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Convex Optimization Approach for Time-Optimal Path Tracking of Robots with Speed Dependent Constraints
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2011 (English)In: Proceedings of the 18th IFAC World Congress, IFAC , 2011, 14648-14653 p.Conference paper, Published paper (Refereed)
Abstract [en]

The task of generating time optimal trajectories for a six degrees of freedom industrial robot is discussed and an existing convex optimization formulation of the problem is extended to include new types of constraints. The new constraints are speed dependent and can be motivated from physical modeling of the motors and the drive system. It is shown how the speed dependent constraints should be added in order to keep the convexity of the overall problem. A method to, conservatively, approximate the linear speed dependent constraints by a convex constraint is also proposed. A numerical example proves versatility of the extension proposed in this paper.

Place, publisher, year, edition, pages
IFAC , 2011. 14648-14653 p.
Keyword [en]
Optimal trajectory, Convex optimization, Industrial robotics
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-73680DOI: 10.3182/20110828-6-IT-1002.01136ISBN: 978-3-902661-93-7 (print)OAI: oai:DiVA.org:liu-73680DiVA: diva2:475993
Conference
18th IFAC World Congress, Milano, Italy, 28 August-2 September, 2011
Projects
Vinnova's Industry Excellence Center LINK-SIC at Linköoping University
Available from: 2012-01-13 Created: 2012-01-11 Last updated: 2013-12-04Bibliographically approved

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