Title:A Task Space Approach for Planar Optimal Robot Tube FollowingAuthor(s):Matthias Oberherber, Hubert Gattringer, Andreas Müller, Michael SchachingerAbstract:The classical optimal path following problem considers the problem of moving optimally along a predefined geometric path under technological restrictions. In contrast to optimal path following, optimal tube following allows deviations from the initial path within a predefined tube to reduce cost even more. The present paper proposes a modern approach that treats this non-convex problem in task space. This novel method also provides a simple way to derive optimal trajectories within a tube described in terms of polygonal lines. Numerical examples are presented that allow to compare the proposed method to existing joint space approaches.Booktitle:Proceedings of the 13th International Conference on Informatics in Control, Automation and RoboticsEditor(s):Oleg Gusikhin, Dimitri Peaucelle and Kurosh MadaniISBN:978-989-758-198-4Page Reference:page 327-334, 8 page(s)Publishing:7/2016Volume:2