Practical methods of optimization; (2nd ed.)
Practical methods of optimization; (2nd ed.)
A sensitivity approach to optimal spline robot trajectories
Automatica (Journal of IFAC)
On-line reference trajectory definition with joint torque and velocity constraints
International Journal of Robotics Research
Numerical Optimization: Theoretical and Practical Aspects (Universitext)
Numerical Optimization: Theoretical and Practical Aspects (Universitext)
Smooth proximity computation for collision-free optimal control of multiple robotic manipulators
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Motion safety and constraints compatibility for multibody robots
Autonomous Robots
Optimisation of compressed air and electricity consumption in a complex robotic cell
Robotics and Computer-Integrated Manufacturing
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This paper deals with minimum time trajectory optimization along a specified path subject to thermal constraints. We point out here that robots are often integrated into complex robotic cells, and the interactions between the robot and its environment are often difficult or even impossible to model. The structure of the optimization problem allows us to decompose the optimization into two levels, the first being based on models and results of the theory of the calculus of variations, the second being based on measurements and derivative free algorithms. This decomposition allows us to optimize the velocity profiles efficiently without any advance knowledge of the interactions between the robot and its environment. We propose here two numerical algorithms for these two levels of the decomposition which show good convergence properties. The resulting optimal velocity profiles are 5—10% faster than classical profiles, and have been executed successfully on a real Stäubli Rx90 manipulator robot.