IEEE - Institute of Electrical and Electronics Engineers, Inc. - Time-optimal path following for robots with trajectory jerk constraints using sequential convex programming

2013 IEEE International Conference on Robotics and Automation (ICRA)

Author(s): Frederik Debrouwere ; Wannes Van Loock ; Goele Pipeleers ; Quoc Tran Dinh ; Moritz Diehl ; Joris De Schutter ; Jan Swevers
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 May 2013
Conference Location: Karlsruhe, Germany
Conference Date: 6 May 2013
Page(s): 1,916 - 1,921
ISBN (Electronic): 978-1-4673-5643-5
ISBN (Paper): 978-1-4673-5641-1
ISSN (Paper): 1050-4729
DOI: 10.1109/ICRA.2013.6630831
Regular:

Time-optimal path following considers the problem of moving along a predetermined geometric path in minimum time. In the case of a robotic manipulator a convex reformulation of this optimal... View More

Advertisement