LP-based velocity profile generation for robotic manipulators

DOI10.1080/00207179.2017.1286535zbMATH Open1396.93094OpenAlexW2580477447MaRDI QIDQ4584780FDOQ4584780

Authors: Ákos Nagy, István Vajk 

Publication date: 4 September 2018

Published in: International Journal of Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/00207179.2017.1286535

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zbMATH Keywords

linear programmingmotion planningtime-optimal controlconvex optimisationpath tracking

Mathematics Subject Classification ID

Linear programming (90C05) Applications of optimal control and differential games (49N90) Artificial intelligence for robotics (68T40) Robot dynamics and control of rigid bodies (70E60) Control/observation systems governed by ordinary differential equations (93C15) Time-scale analysis and singular perturbations in control/observation systems (93C70) Automated systems (robots, etc.) in control theory (93C85)

Cites Work

• Planning Algorithms
• Springer handbook of robotics. With DVD
• Title not available (Why is that?)
• Minimum-time control of robotic manipulators with geometric path constraints
• Time-Optimal Path Tracking for Robots: A Convex Optimization Approach
• Minimum-time speed optimisation over a fixed path

Cited In (5)

• LP-based path planning method in acceleration space for a mobile robot
• Time optimal feedrate generation with confined tracking error based on linear programming
• Minimum-time velocity profile planning for planar motion considering velocity, acceleration and jerk constraints
• Time-optimal velocity planning by a bound-tightening technique
• A solution of the minimum-time speed planning problem based on lattice theory

Uses Software

• Gurobi

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