An efficient stochastic approach for robust time-optimal trajectory planning of robotic manipulators under limited actuation

doi:10.1017/S026357471700011X

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	An efficient stochastic approach for robust time-optimal trajectory planning of robotic manipulators under limited actuation
	Zhao, Ming-Yong 1,2; Gao, Xiao-Shan1 ; Zhang, Qiang 1
	2017-12-01
发表期刊	ROBOTICA
ISSN	0263-5747
卷号	35 期号:12 页码:2400-2417
摘要	This paper focuses on the problem of robust time-optimal trajectory planning of robotic manipulators to track a given path under a probabilistic limited actuation, that is, the probability for the actuation to be limited is no less than a given bound kappa We give a general and practical method to reduce the probabilistic constraints to a set of deterministic constraints and show that the deterministic constraints are equivalent to a set of linear constraints under certain conditions. As a result, the original problem is reduced to a linear optimal control problem which can be solved with linear programming in polynomial time. In the case of kappa = 1, the original problem is proved to be equivalent to the linear optimal control problem. Overall, a very general, practical, and efficient algorithm is given to solve the above problem and numerical simulation results are used to show the effectiveness of the method.
关键词	Robust trajectory planning Robotic manipulators Stochastic optimization Probability constraint Linear programming
DOI	10.1017/S026357471700011X
语种	英语
资助项目	NSFC[NSFC 11688101]
WOS研究方向	Robotics
WOS类目	Robotics
WOS记录号	WOS:000414664100008
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/26944
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, KLMM, Beijing 100190, Peoples R China 2.Tsinghua Univ, Dept Mech Engn, BKLPUMEC, Beijing 100084, Peoples R China
推荐引用方式 GB/T 7714	Zhao, Ming-Yong,Gao, Xiao-Shan,Zhang, Qiang. An efficient stochastic approach for robust time-optimal trajectory planning of robotic manipulators under limited actuation[J]. ROBOTICA,2017,35(12):2400-2417.
APA	Zhao, Ming-Yong,Gao, Xiao-Shan,&Zhang, Qiang.(2017).An efficient stochastic approach for robust time-optimal trajectory planning of robotic manipulators under limited actuation.ROBOTICA,35(12),2400-2417.
MLA	Zhao, Ming-Yong,et al."An efficient stochastic approach for robust time-optimal trajectory planning of robotic manipulators under limited actuation".ROBOTICA 35.12(2017):2400-2417.