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A computationally efficient algorithm to find time-optimal trajectory of redundantly actuated robots moving on a specified path

Published online by Cambridge University Press:  29 August 2018

Saeed Mansouri ,
Mohammad Jafar Sadigh  and
Masoud Fazeli
Saeed Mansouri*
Affiliation:
School of Mechanical Engineering, Sharif University of Technology, Tehran, Iran
Mohammad Jafar Sadigh
Affiliation:
School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran. E-mail: mjsadigh@ut.ac.ir
Masoud Fazeli
Affiliation:
Department of Mechanical Engineering, Isfahan University of Technology, Isfahan, Iran. E-mail: mas.fazeli2001@gmail.com
*
*Corresponding author. E-mail: s_mansouri@mech.sharif.edu
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Summary

A time-optimal problem for redundantly actuated robots moving on a specified path is a challenging problem. Although the problem is well explored and there are proposed solutions based on phase plane analysis, there are still several unresolved issues regarding calculation of solution curves. In this paper, we explore the characteristics of the maximum velocity curve and propose an efficient algorithm to establish the solution curve. Then we propose a straightforward method to calculate the maximum or minimum possible acceleration on the path based on the pattern of saturated actuators, which substantially reduces the computational cost. Two numerical examples are provided to illustrate the issues and the solutions.

Keywords

Time-optimalRedundantly actuated robotsRobot control
Type
Articles
Information
Robotica , Volume 37 , Issue 1 , January 2019 , pp. 62 - 79
Copyright
Copyright © Cambridge University Press 2018 

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