Recursive log-barrier method for on-line time-optimal robot path tracking

  • Authors:

  • Diederik Verscheure;Moritz Diehl;Joris De Schutter;Jan Swevers

  • Affiliations:

  • Division PMA, Department of Mechanical Engineering, Katholieke Universiteit Leuven, Belgium;Division SCD, Department of Electrical Engineering, Katholieke Universiteit Leuven, Belgium;Division PMA, Department of Mechanical Engineering, Katholieke Universiteit Leuven, Belgium;Division PMA, Department of Mechanical Engineering, Katholieke Universiteit Leuven, Belgium

  • Venue:
  • ACC'09 Proceedings of the 2009 conference on American Control Conference
  • Year:
  • 2009

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Abstract

This paper focuses on time-optimal robot path tracking and develops an approximate, log-barrier batch solution method to rapidly solve discretized, convexly reformuled path tracking problems. Based on this batch solution method, which results in smooth actuator torques, a recursive variant is derived for on-line path tracking. The results and trade-offs in calculation time, delay and path duration are compared for the batch and recursive variant of the log-barrier method as well as for an exact solution method, by means of an experimental test case of a robot carrying out a writing task, in which the path data is generated on-line by human demonstration.