Recursive Log-barrier Method for On-line Time-optimal Robot Path Tracking

被引：10

作者：

Verscheure, Diederik ^{[1
]}

Diehl, Moritz ^{[2
]}

De Schutter, Joris ^{[1
]}

Swevers, Jan ^{[1
]}

机构：

[1] Katholieke Univ Leuven, Div PMA, Dept Mech Engn, Louvain, Belgium

[2] Katholieke Univ Leuven, Dept Elect Engn ESAT, Div SCD, Leuven, Belgium

来源：

2009 AMERICAN CONTROL CONFERENCE, VOLS 1-9 | 2009年

关键词：

MANIPULATORS;

D O I：

10.1109/ACC.2009.5159938

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper focuses on time-optimal robot path tracking and develops an approximate, log-barrier batch solution method to rapidly solve discretized, convexly reformuled path tracking problems. Based on this batch solution method, which results in smooth actuator torques, a recursive variant is derived for on-line path tracking. The results and trade-offs in calculation time, delay and path duration are compared for the batch and recursive variant of the log-barrier method as well as for an exact solution method, by means of an experimental test case of a robot carrying out a writing task, in which the path data is generated on-line by human demonstration.

引用

页码：4134 / +

页数：2

共 50 条

[21] A PSO method for time-optimal motion planning of a mobile robot
Lai, Li-Chun
Su, Kuo-Lan
Ko, Chia-Nan
Lin, Sheau-Wen
Shih, Chia-Hung
PROCEEDINGS OF THE EIGHTEENTH INTERNATIONAL SYMPOSIUM ON ARTIFICIAL LIFE AND ROBOTICS (AROB 18TH '13), 2013, : 234 - 237
[22] DYNAMICS BASED TIME-OPTIMAL PATH NAVIGATION FOR A SKID-STEER ROBOT
Kumar, Suren
Krovi, Venkat N.
PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2014, VOL 5B, 2014,
[23] TIME-OPTIMAL MOTION OF A COOPERATING MULTIPLE ROBOT SYSTEM ALONG A PRESCRIBED PATH
CHO, HK
LEE, BH
KO, MS
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS, 1995, 25 (12): : 1648 - 1657
[24] Time-optimal Trajectory Generation, Path Planning and Control for a Wood Patching Robot
Hofmair, Matthias
Boeck, Martin
Kugi, Andreas
2015 IEEE CONFERENCE ON CONTROL AND APPLICATIONS (CCA 2015), 2015, : 459 - 465
[25] Time-optimal path planning for flat systems with application to a wheeled mobile robot
Van Loock, Wannes
Pipeleers, Goele
Swevers, Jan
2013 9TH INTERNATIONAL WORKSHOP ON ROBOT MOTION AND CONTROL (ROMOCO), 2013, : 192 - 196
[26] An Efficient Iterative Learning Approach to Time-Optimal Path Tracking for Industrial Robots
Steinhauser, Armin
Swevers, Jan
IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS, 2018, 14 (11) : 5200 - 5207
[27] Closed-loop trajectory generation for robust time-optimal path tracking
Kieffer, JC
Cahill, AJ
James, MR
1996 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, PROCEEDINGS, VOLS 1-4, 1996, : 1559 - 1565
[28] A Convex Optimization Approach to Time-Optimal Path Tracking Problem for Cooperative Manipulators
Haghshenas, Hamed
Norrlof, Mikael
Hansson, Anders
IFAC PAPERSONLINE, 2019, 52 (10): : 400 - 405
[29] Synthesis of the time-optimal motion of an oscillator along a broken-line path
Akulenko, LD
Kostin, GV
JOURNAL OF COMPUTER AND SYSTEMS SCIENCES INTERNATIONAL, 1999, 38 (06) : 916 - 924
[30] Time-Optimal Path Planning With Power Schedules for a Solar-Powered Ground Robot
Kaplan, Adam
Kingry, Nathaniel
Uhing, Paul
Dai, Ran
IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING, 2017, 14 (02) : 1235 - 1244

← 1 2 3 4 5 →