Loading [a11y]/accessibility-menu.js
Time-Optimal Trajectory Planning for Robots with Identified Dynamics | IEEE Conference Publication | IEEE Xplore

Time-Optimal Trajectory Planning for Robots with Identified Dynamics

Publisher: IEEE

Abstract:

In industrial applications, time-optimal trajectory planning (TOTP) is essential for robotic systems, while the exact dynamic models are sometimes unavailable in the plan...View more

Abstract:

In industrial applications, time-optimal trajectory planning (TOTP) is essential for robotic systems, while the exact dynamic models are sometimes unavailable in the planning process. This paper presents an optimization-based method to deal with the TOTP of robotic systems with identified dynamics. First, the dynamic model of the robotic system is identified in a linear format. Then given a planned geometric path, a non-convex optimization problem including jerk and torque constraints is formulated directly from the linear model to calculate the time-optimal trajectory. To get the numerical solution, the optimization is discretized and solved using sequential convex programming (SCP). Real-world experiments are conducted on a 6-DOF industrial robot. The trajectory planning and trajectory tracking results consistently demonstrate the effectiveness of the proposed method.
Date of Conference: 27-31 December 2021
Date Added to IEEE Xplore: 28 March 2022
ISBN Information:
Publisher: IEEE
Conference Location: Sanya, China

References

References is not available for this document.