On time optimal path control of manipulators with bounded joint velocities and torques

2002 ◽  
Author(s):  
L. Zlajpah
Keyword(s):  
Optimal Path ◽  
Path Control ◽  
Time Optimal

Near Time Optimal Path Control of Kinematically Redundant Manipulators with Bounded Joint Velocities and Torques

2011 ◽  
Vol 110-116 ◽  
pp. 1547-1555
Author(s):  
Mohammad Hassan Ghasemi ◽  
Navvab Kashiri ◽  
Morteza Dardel ◽  
Mohammad Hadi Pashaei
Keyword(s):  
Linear Programming ◽  
Trajectory Planning ◽  
Optimal Path ◽  
Phase Plane Analysis ◽  
Programming Technique ◽  
Plane Analysis ◽  
Path Control ◽  
Time Optimal ◽  
Planning Algorithm ◽  
Optimal Control Scheme

here, a time optimal control scheme for trajectory planning of kinematically manipulators subjects to actuator torque limits is proposed by using the phase plane analysis and linear programming technique. In addition, the limit on joint velocities is considered. In order to affect the constraint of joint velocities, this constraint is converted to constraint on joint acceleration and it is affected linear programming problem as an additional constraint. Also, an explicit algorithm for finding the switching points is presented. To this end, some simulations are given to demonstrate the efficiency of proposed trajectory planning algorithm.

scholarly journals Time-optimal Path Planning of Multi-axis CNC Processes Using Variability of Orientation

Procedia CIRP ◽  
2021 ◽  
Vol 96 ◽  
pp. 324-329
Author(s):  
Frederik Wulle ◽  
Max Richter ◽  
Christoph Hinze ◽  
Alexander Verl
Keyword(s):  
Path Planning ◽  
Optimal Path ◽  
Optimal Path Planning ◽  
Time Optimal

Smooth Time-Optimal Path Tracking for Robot Manipulators With Kinematic Constraints

2020 ◽  
Author(s):  
Kui Hu ◽  
Yunfei Dong ◽  
Dan Wu
Keyword(s):  
Robot Manipulators ◽  
Optimal Path ◽  
Path Tracking ◽  
Control Input ◽  
Kinematic Constraints ◽  
Computation Efficiency ◽  
Planning Approach ◽  
Time Optimal ◽  
Difference Of Convex ◽  
The Difference

Abstract Previous works solve the time-optimal path tracking problems considering piece-wise constant parametrization for the control input, which may lead to the discontinuous control trajectory. In this paper, a practical smooth minimum time trajectory planning approach for robot manipulators is proposed, which considers complete kinematic constraints including velocity, acceleration and jerk limits. The main contribution of this paper is that the control input is represented as the square root of a polynomial function, which reformulates the velocity and acceleration constraints into linear form and transforms the jerk constraints into the difference of convex form so that the time-optimal problem can be solved through sequential convex programming (SCP). The numerical results of a real 7-DoF manipulator show that the proposed approach can obtain very smooth velocity, acceleration and jerk trajectories with high computation efficiency.

scholarly journals Near Time-Optimal Path Tracking Method for Waiter Motion Problem

2017 ◽  
Vol 50 (1) ◽  
pp. 4929-4934 ◽  
Author(s):  
Gábor Csorvási ◽  
Ákos Nagy ◽  
István Vajk
Keyword(s):  
Optimal Path ◽  
Path Tracking ◽  
Tracking Method ◽  
Time Optimal ◽  
Motion Problem ◽  
Path Tracking Method

Theoretical Analysis of Overlay GNSS Receiver Effects

2012 ◽  
Vol 3 (3) ◽  
pp. 38-53
Author(s):  
Alexander Rügamer ◽  
Cécile Mongrédien ◽  
Santiago Urquijo ◽  
Günter Rohmer
Keyword(s):  
Lower Bound ◽  
State Of The Art ◽  
Optimal Path ◽  
Signal Quality ◽  
Relative Gain ◽  
Noise Floor ◽  
Code Tracking ◽  
Front End ◽  
Path Control ◽  
Multi Band

Having given a short overview of GNSS signals and state-of-the-art multi-band front-end architectures, this paper presents a novel contribution to efficient multi-band GNSS reception. A general overlay based front-end architecture is introduced that enables the joint reception of two signals broadcast in separate frequency bands, sharing just one common baseband stage. The consequences of this overlay are analyzed for both signal and noise components. Signal overlay is shown to have a negligible impact on signal quality. It is shown that the noise floor superposition results in non-negligible degradations. However, it is also demonstrated that these degradations can be minimized by judiciously setting the relative gain between the two signal paths. As an illustration, the analytical optimal path-control expression to combine overlaid signals in an ionospheric-free pseudorange is derived for both Cramér-Rao Lower Bound and practical code tracking parameters. Finally, some practical overlay receiver and path control aspects are discussed.

A numerical approach for time-optimal path-planning of kinematically redundant manipulators

Robotica ◽  
1994 ◽  
Vol 12 (5) ◽  
pp. 401-410 ◽  
Author(s):  
Chia-Ju Wu
Keyword(s):  
Nonlinear Programming ◽  
Path Planning ◽  
Programming Problem ◽  
Optimal Path ◽  
Numerical Approach ◽  
Redundant Manipulators ◽  
Nonlinear Programming Problem ◽  
Optimal Path Planning ◽  
Time Optimal ◽  
Feasible Solutions

SUMMARYIn this paper, a numerical approach is proposed to solve the time-optimal path-planning (TOPP) problem of kinematically redundant manipulators between two end-points. The first step is to transform the TOPP problem into a nonlinear programming problem by an iterative procedure. Then an approach to find the initial feasible solutions of the problem is proposed. Since initial feasible solutions can be found easily, the optimization process of the nonlinear programming problem can be started from different points to find the global minimum. A planar three-link robotic manipulator is used to illustrate the validity of the proposed approach.

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