Title: Time-optimal Motion Planning for n-DOF Robot Manipulators Using a Path-parametric System Reformulation
Authors: Verschueren, Robin ×
van Duijkeren, Niels
Swevers, Jan
Diehl, Moritz #
Issue Date: Jul-2016
Conference: American Control Conference edition:2016 location:Boston, USA date:6-8 July 2016
Abstract: Time-optimal motion planning for robotic manipulators consists of moving the robot along a path in Cartesian space as fast as possible. In contrast to time-optimal path following, small deviations from a predefined path are acceptable and can be exploited to further reduce the overall motion time. In this paper, we present a new method to compute time-optimal motions around a path. By employing an appropriate change of variables for the robot dynamics to path coordinates, geometric constraints enter the optimal control formulation in a convenient way. The reformulation of the robot dynamics and the path constraints is shown with numerical examples.
Publication status: accepted
KU Leuven publication type: IC
Appears in Collections:Production Engineering, Machine Design and Automation (PMA) Section
× corresponding author
# (joint) last author

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