2025/06/04 by Jonathan Fried, Fried, Jonathan, Santiago Paternain +1
Engineering · #Dynamics and Control of Mechanical Systems #FOS: Computer and information sciences #FOS: Mathematics #Optimization and Control (math.OC) #Robotic Mechanisms and Dynamics #Robotics (cs.RO) #Spacecraft Dynamics and Control
paper · pdf · doi:10.48550/arxiv.2506.03982
openalex publication_date 2025/06/04 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
In this work, we present a method for minimizing the time required for a redundant dual-arm robot to follow a desired relative Cartesian path at constant path speed by optimizing its joint trajectories, subject to position, velocity, and acceleration limits. The problem is reformulated as a bi-level optimization whose lower level is a convex, closed-form subproblem that maximizes path speed for a fixed trajectory, while the upper level updates the trajectory using a single-chain kinematic formulation and the subgradient of the lower-level value. Numerical results demonstrate the effectiveness of the proposed approach.