Affiliation:
1. Department of Automation and Applied Informatics, Budapest University of Technology and Economics, Budapest H-1117, Hungary e-mail:
Abstract
Time-optimal motion-planning has been a topic of active research in the literature for a while. This paper presents a new approach for velocity profile generation, which is a subproblem in motion-planning. In the case of simplified constraints, profile generation can be translated to a convex optimization problem. However, some practical constraints (e.g., velocity-dependent torque, viscous friction) destroy the convexity. The proposed method can obtain the global optimum of the nonconvex optimization problem. The experimental results with a three degrees-of-freedom (DOF) robot manipulator are also presented in this paper.
Subject
Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering
Cited by
10 articles.
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