Time-optimal motion-planning has been a topic of active research in the literature for a while. This paper presents a new approach for velocity profile generation, which is a subproblem in motion-planning. In the case of simplified constraints, profile generation can be translated to a convex optimization problem. However, some practical constraints (e.g., velocity-dependent torque, viscous friction) destroy the convexity. The proposed method can obtain the global optimum of the nonconvex optimization problem. The experimental results with a three degrees-of-freedom (DOF) robot manipulator are also presented in this paper.
Nonconvex Time-Optimal Trajectory Planning for Robot Manipulators
Contributed by the Dynamic Systems Division of ASME for publication in the Journal of Dynamic Systems, Measurement, and Control. Manuscript received November 28, 2018; final manuscript received July 2, 2019; published online July 31, 2019. Assoc. Editor: Richard Bearee.
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Nagy, Á., and Vajk, I. (July 31, 2019). "Nonconvex Time-Optimal Trajectory Planning for Robot Manipulators." ASME. J. Dyn. Sys., Meas., Control. November 2019; 141(11): 111007. doi: https://doi.org/10.1115/1.4044216
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