In this paper we study the trajectory tracking of robotic manipulators using LQ methods. We also present the development of an algorithm that generates “near” dynamically feasible time-optimal trajectories with complete dynamics model, which incorporates both Coulomb and viscous friction. It is shown how to incorporate the viscous-friction term through a convex relaxation of the original non-convex formulation. Viscous friction is traditionally ignored in all existing related formulations due to the intractability in solving the non-convex problem. As a case study, the methodology is applied to a 6-DOF industrial manipulator.

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