2017/03/01 by Saeed Mansouri, Mansouri, Saeed, Mohammad Jafar Sadigh +3
Engineering · Computer Science · #Robotic Mechanisms and Dynamics #Robotic Path Planning Algorithms #Dynamics and Control of Mechanical Systems
paper · pdf · doi:10.48550/arxiv.1703.00151
A time-optimal problem for redundantly actuated robots moving on a specified\npath is a challenging problem. Although the problem is well explored and there\nare proposed solutions based on phase plane analysis, there are still several\nunresolved issues regarding calculation of solution curves. In this paper, we\nexplore the characteristics of the maximum velocity curve (MVC) and propose an\nefficient algorithm to establish the solution curve. Then we propose a\nstraightforward method to calculate the maximum or minimum possible\nacceleration on the path based on the pattern of saturated actuators, which\nsubstantially reduces the computational cost. Two numerical examples are\nprovided to illustrate the issues and the solutions.\n