Tobias Marauli, Hubert Gattringer, Andreas Müller,
"A Parameter-Linear Formulation of the Optimal Path Following Problem for Robotic Manipulator"
, in Tadej Petri?, Ale? Ude, Leon ?lajpah: Advances in Service and Industrial Robotics - RAAD 2023, Serie Mechanisms and Machine Science, Vol. 135, Springer Nature Switerland AG, Switzerland, Seite(n) 342-349, 2023, ISBN: 978-3-031-32605-9
A Parameter-Linear Formulation of the Optimal Path Following Problem for Robotic Manipulator
Sprache des Titels:
Advances in Service and Industrial Robotics - RAAD 2023
In this paper the computational challenges of time-optimal path following are addressed. The standard approach is to minimize the travel time, which inevitably leads to singularities at zero path speed, when reformulating the optimization problem in terms of a path parameter. Thus, smooth trajectory generation while maintaining a low computational effort is quite challenging, since the singularities have to be taken into account. To this end, a different approach is presented in this paper. This approach is based on maximizing the path speed along a prescribed path. Furthermore, the approach is capable of planning smooth trajectories numerically efficient. Moreover, the discrete reformulation of the underlying problem is linear in optimization variables.