On the time-optimal trajectory planning and control of robotic manipulators along predefined paths

2013 ◽  
Author(s):  
Pedro Reynoso-Mora ◽  
Wenjie Chen ◽  
Masayoshi Tomizuka
Keyword(s):  
Trajectory Planning ◽  
Optimal Trajectory ◽  
Robotic Manipulators ◽  
Planning And Control ◽  
Time Optimal ◽  
And Control ◽  
Optimal Trajectory Planning ◽  
Trajectory Planning And Control

Towards comfort-optimal trajectory planning and control

2018 ◽  
Vol 57 (8) ◽  
pp. 1108-1125
Author(s):  
Marlies Mischinger ◽  
Martin Rudigier ◽  
Peter Wimmer ◽  
Andreas Kerschbaumer
Keyword(s):  
Trajectory Planning ◽  
Optimal Trajectory ◽  
Planning And Control ◽  
And Control ◽  
Optimal Trajectory Planning ◽  
Trajectory Planning And Control

An efficient stochastic approach for robust time-optimal trajectory planning of robotic manipulators under limited actuation

Robotica ◽  
2017 ◽  
Vol 35 (12) ◽  
pp. 2400-2417 ◽  
Author(s):  
Ming-Yong Zhao ◽  
Xiao-Shan Gao ◽  
Qiang Zhang
Keyword(s):  
Optimal Control ◽  
Optimal Control Problem ◽  
Control Problem ◽  
Trajectory Planning ◽  
Optimal Trajectory ◽  
Original Problem ◽  
Robotic Manipulators ◽  
Linear Optimal Control ◽  
Time Optimal ◽  
Optimal Trajectory Planning

SUMMARYThis paper focuses on the problem of robust time-optimal trajectory planning of robotic manipulators to track a given path under a probabilistic limited actuation, that is, the probability for the actuation to be limited is no less than a given bound κ. We give a general and practical method to reduce the probabilistic constraints to a set of deterministic constraints and show that the deterministic constraints are equivalent to a set of linear constraints under certain conditions. As a result, the original problem is reduced to a linear optimal control problem which can be solved with linear programming in polynomial time. In the case of κ = 1, the original problem is proved to be equivalent to the linear optimal control problem. Overall, a very general, practical, and efficient algorithm is given to solve the above problem and numerical simulation results are used to show the effectiveness of the method.

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