2022/11/10 by Ryan McGovern, McGovern, Ryan, Nikolaos Athanasopolous +3
Computer Science · Engineering · #FOS: Computer and information sciences #FOS: Electrical engineering #Formal Methods in Verification #Real-time simulation and control systems #Robotic Mechanisms and Dynamics #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2211.05342
openalex publication_date 2022/11/10 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
We develop a new framework for trajectory planning on predefined paths, for general N-link manipulators. Different from previous approaches generating open-loop minimum time controllers or pre-tuned motion profiles by time-scaling, we establish analytic algorithms that recover all initial conditions that can be driven to the desirable target set while adhering to environment constraints. More technologically relevant, we characterise families of corresponding safe state-feedback controllers with several desirable properties. A key enabler in our framework is the introduction of a state feedback template, that induces ordering properties between trajectories of the resulting closed-loop system. The proposed structure allows working on the nonlinear system directly in both the analysis and synthesis problems. Both offline computations and online implementation are scalable with respect to the number of links of the manipulator. The results can potentially be used in a series of challenging problems: Numerical experiments on a commercial robotic manipulator demonstrate that efficient online implementation is possible.