Sequential Time-Optimal Path-Tracking Algorithm for Robots
Ákos Nagy, István Vajk · IEEE Transactions on Robotics · 2019
This paper focuses on minimum-time path tracking, a subproblem in motion planning of robotic systems. We generate a time-optimal velocity profile for robotic manipulators taking into account kinematic and dynamic constraints. Based on the special structure of the constraints (called peaked constraints), profile generation is formulated as a linear programming (LP) problem. The LP-based control problem is solved by a sequential optimization method. The presented algorithm has reduced computational time compared to a general LP solver.