Title: Time-Optimal Path Following for Robots with Convex-Concave Constraints using Sequential Convex Programming
Authors: Debrouwere, Fred ×
Van Loock, Wannes
Pipeleers, Goele
Tran Dinh, Quoc
Diehl, Moritz
De Schutter, Joris
Swevers, Jan #
Issue Date: 2013
Publisher: Institute of Electrical and Electronics Engineers
Series Title: IEEE Transactions on Robotics vol:29 issue:6 pages:1485-1495
Abstract: Time-optimal path following considers the problem
of moving along a predetermined geometric path in minimum
time. In the case of a robotic manipulator with simplified constraints
a convex reformulation of this optimal control problem
has been derived previously. However, many applications in
robotics feature constraints such as velocity-dependent torque
constraints or torque rate constraints that destroy the convexity.
The present paper proposes an efficient sequential convex
programming (SCP) approach to solve the corresponding nonconvex
optimal control problems by writing the non-convex
constraints as a difference of convex (DC) functions, resulting
in convex-concave constraints. We consider seven practical
applications that fit into the proposed framework even when
mutually combined, illustrating the flexibility and practicality of
the proposed framework. Furthermore, numerical simulations
for some typical applications illustrate the fast convergence of
the proposed method in only a few SCP iterations, confirming
the efficiency of the proposed framework.
ISSN: 1552-3098
Publication status: published
KU Leuven publication type: IT
Appears in Collections:Production Engineering, Machine Design and Automation (PMA) Section
ESAT - STADIUS, Stadius Centre for Dynamical Systems, Signal Processing and Data Analytics
× corresponding author
# (joint) last author

Files in This Item:
File Description Status SizeFormat
lirias_paper.pdf Published 8229KbAdobe PDFView/Open


All items in Lirias are protected by copyright, with all rights reserved.

© Web of science