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Time-optimal path tracking for robots under dynamics constraints based on convex optimization
Zhang, Qiang1,2; Li, Shurong2; Guo, Jian-Xin1; Gao, Xiao-Shan1
2016-09-01
Source PublicationROBOTICA
ISSN0263-5747
Volume34Issue:9Pages:2116-2139
AbstractTo fully utilize the dynamic performance of robotic manipulators and enforce minimum motion time in path tracking, the problem of minimum time path tracking for robotic manipulators under confined torque, change rate of the torque, and voltage of the DC motor is considered. The main contribution is the introduction of the concepts of virtual change rate of the torque and the virtual voltage, which are linear functions in the state and control variables and are shown to be very tight approximation to the real ones. As a result, the computationally challenging non-convex minimum time path tracking problem is reduced to a convex optimization problem which can be solved efficiently. It is also shown that introducing dynamics constraints can significantly improve the motion precision without costing much in motion time, especially in the case of high speed motion. Extensive simulations are presented to demonstrate the effectiveness of the proposed approach.
KeywordRobotic manipulators Motor dynamics Path tracking Optimal trajectory Optimal control Convex optimization
DOI10.1017/S0263574715000247
Language英语
Funding ProjectNational Key Basic Research Project of China[2011CB302400] ; NSFC[60821002]
WOS Research AreaRobotics
WOS SubjectRobotics
WOS IDWOS:000382716200012
PublisherCAMBRIDGE UNIV PRESS
Citation statistics
Cited Times:9[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.amss.ac.cn/handle/2S8OKBNM/23496
Collection系统科学研究所
Affiliation1.Chinese Acad Sci, Acad Math & Syst Sci, Beijing, Peoples R China
2.China Univ Petr East China, Dept Automat, Qingdao, Peoples R China
Recommended Citation
GB/T 7714
Zhang, Qiang,Li, Shurong,Guo, Jian-Xin,et al. Time-optimal path tracking for robots under dynamics constraints based on convex optimization[J]. ROBOTICA,2016,34(9):2116-2139.
APA Zhang, Qiang,Li, Shurong,Guo, Jian-Xin,&Gao, Xiao-Shan.(2016).Time-optimal path tracking for robots under dynamics constraints based on convex optimization.ROBOTICA,34(9),2116-2139.
MLA Zhang, Qiang,et al."Time-optimal path tracking for robots under dynamics constraints based on convex optimization".ROBOTICA 34.9(2016):2116-2139.
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