Title: Time-Optimal Path Following for Robots with Trajectory Jerk Constraints using Sequential Convex Programming
Authors: Debrouwere, Frederik
Van Loock, Wannes
Pipeleers, Goele
Tran Dinh, Quoc
Diehl, Moritz
De Schutter, Joris
Swevers, Jan
Issue Date: 2013
Host Document: 2013 IEEE International Conference on Robotics and Automation (ICRA) pages:1916-1921
Conference: IEEE International Conference on Robotics and Automation location:Karlsruhe, Germany date:6-10 May 2013
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 a convex reformulation
of this optimal control problem has been derived previously [1].
However, the bang-bang nature of the time-optimal trajectories
results in near-infinite jerks in joint space and operational
(Cartesian) space. For systems with unmodeled flexibilities, this
usually results in excitation of the resonant frequencies, hence
in unwanted vibrations and acceleration peaks, contributing to a
tracking error. These vibrations can be reduced by imposing
jerk constraints on the trajectory [2]. However, these jerk
constraints destroy the convexity of the time-optimal control
problem. The present paper proposes an efficient sequential
convex programming (SCP) approach to solve the corresponding
non-convex optimal control problem by writing the non-convex
jerk constraints as a difference of convex (DC) functions. We
illustrate the developed approach by means of experiments with a
seven d.o.f. robot. Furthermore, numerical simulations illustrate
the fast convergence of the proposed method in only a few
SCP iterations, confirming
ISSN: 1050-4729
Publication status: published
KU Leuven publication type: IC
Appears in Collections:ESAT - STADIUS, Stadius Centre for Dynamical Systems, Signal Processing and Data Analytics
Production Engineering, Machine Design and Automation (PMA) Section

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