On-Line Time-Optimal Path Tracking for Robots

被引：0
|
作者：
Verscheure, Diederik [1 ]
Diehl, Moritz [2 ]
De Schutter, Joris [1 ]
Swevers, Jan [1 ]
机构：
[1] Katholieke Univ Leuven, Dept Mech Engn, Div PMA, Louvain, Belgium
[2] Katholieke Univ Leuven, Dept Elect Engn ESAT, Div SCD, Leuven, Belgium
来源：
ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7 | 2009年
关键词：
MANIPULATORS;
D O I：
暂无
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 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.
引用
收藏
页码：610 / +
页数：2
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