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- W2765178892 abstract "The paper examines the time-optimal path tracking problem which belongs to robot motion planning. The goal is to generate a velocity profile for robotic manipulators taking into account kinematic and dynamic constraints. In some cases, profile generation can be translated to a convex optimisation problem through a non-linear change of variables. However, some constraints cannot be taken into account due they non-convex properties. The paper presents a method to solve the time-optimal problem with these non-convex constraints. The method is based on the branch and bound algorithm, and it provides a global solution in contrast to the existing local approaches. Experimental results with a 3-DoF robotic arm are also presented." @default.
- W2765178892 created "2017-11-10" @default.
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- W2765178892 date "2017-09-01" @default.
- W2765178892 modified "2023-09-25" @default.
- W2765178892 title "Minimum-time path tracking for robots with non-convex constraints" @default.
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- W2765178892 doi "https://doi.org/10.1109/sisy.2017.8080545" @default.
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