On-line time-optimal path tracking for robots

  • 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:
  • ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
  • Year:
  • 2009

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Abstract

This paper focuses on time-optimal path tracking, which involves planning of robot motions along prescribed geometric paths. Starting from a discretized convex reformulation of time-optimal path tracking problems, a log-barrier based batch solution method is presented which allows to rapidly obtain an approximate solution with smooth actuator torques. Based on this batch method, a recursive variant is derived for on-line path tracking. By means of an experimental test case in which the path data is generated on-line by human demonstration, 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.