Time-optimal path tracking for robots under dynamics constraints based on convex optimization

doi:10.1017/S0263574715000247

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	Time-optimal path tracking for robots under dynamics constraints based on convex optimization
	Zhang, Qiang 1,2; Li, Shurong 2; Guo, Jian-Xin 1; Gao, Xiao-Shan1
	2016-09-01
发表期刊	ROBOTICA
ISSN	0263-5747
卷号	34 期号:9 页码:2116-2139
摘要	To 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.
关键词	Robotic manipulators Motor dynamics Path tracking Optimal trajectory Optimal control Convex optimization
DOI	10.1017/S0263574715000247
语种	英语
资助项目	National Key Basic Research Project of China[2011CB302400] ; NSFC[60821002]
WOS研究方向	Robotics
WOS类目	Robotics
WOS记录号	WOS:000382716200012
出版者	CAMBRIDGE UNIV PRESS
引用统计
文献类型	期刊论文
条目标识符	http://ir.amss.ac.cn/handle/2S8OKBNM/23496
专题	系统科学研究所
通讯作者	Gao, Xiao-Shan
作者单位	1.Chinese Acad Sci, Acad Math & Syst Sci, Beijing, Peoples R China 2.China Univ Petr East China, Dept Automat, Qingdao, Peoples R China
推荐引用方式 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.