Abstract
This paper presents a method for determining smooth and time-optimal path-constrained trajectories for robotic manipulators. The desired smoothness of the trajectory is imposed through limits on the actuator jerks. The third derivative of the path parameter with respect to time, the pseudo-jerk, is the controlled input. The limits on the actuator torques translate into state-dependent limits on the pseudo-acceleration. The time-optimal control objective is cast as an optimization problem by using cubic splines to parameterize the state space trajectory. The optimization problem is solved using the flexible tolerance method.
Original language | English |
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Title of host publication | American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC |
Publisher | ASME International |
Pages | 469-470 |
Number of pages | 2 |
Volume | 67 |
ISBN (Print) | 0791816346 |
Publication status | Published - 1 Dec 1999 |
Externally published | Yes |
Event | Dynamic Systems and Control Division - 1999 (The ASME International Mechanical Engineering Congress and Exposition) - Nashville, United States of America Duration: 14 Nov 1999 → 19 Nov 1999 |
Conference
Conference | Dynamic Systems and Control Division - 1999 (The ASME International Mechanical Engineering Congress and Exposition) |
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Country/Territory | United States of America |
City | Nashville |
Period | 14/11/99 → 19/11/99 |