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ICRA
2009
IEEE

On-line time-optimal path tracking for robots

14 years 6 months ago
On-line time-optimal path tracking for robots
— This paper focuses on time-optimal path tracking, which involves planning of robot motions along prescribed geometric paths. Starting from a discretized convex reformulation of time-optimal path tracking problems, a log-barrier based batch solution method is presented which allows to rapidly obtain an approximate solution with smooth actuator torques. Based on this batch method, a recursive variant is derived for on-line path tracking. By means of an experimental test case in which the path data is generated on-line by human demonstration, 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.
Diederik Verscheure, Moritz Diehl, Joris De Schutt
Added 23 May 2010
Updated 23 May 2010
Type Conference
Year 2009
Where ICRA
Authors Diederik Verscheure, Moritz Diehl, Joris De Schutter, Jan Swevers
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