KMS Of Academy of mathematics and systems sciences, CAS
| An efficient stochastic approach for robust time-optimal trajectory planning of robotic manipulators under limited actuation | |
Zhao, Ming-Yong1,2; Gao, Xiao-Shan1 ; Zhang, Qiang1
| |
| 2017-12-01 | |
| Source Publication | ROBOTICA
 |
| ISSN | 0263-5747 |
| Volume | 35Issue:12Pages:2400-2417 |
| Abstract | 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. |
| Keyword | Robust trajectory planning Robotic manipulators Stochastic optimization Probability constraint Linear programming |
| DOI | 10.1017/S026357471700011X |
| Language | 英语 |
| Funding Project | NSFC[NSFC 11688101] |
| WOS Research Area | Robotics |
| WOS Subject | Robotics |
| WOS ID | WOS:000414664100008 |
| Publisher | CAMBRIDGE UNIV PRESS |
| Citation statistics | |
| Document Type | 期刊论文 |
| Identifier | http://ir.amss.ac.cn/handle/2S8OKBNM/26944 |
| Collection | 系统科学研究所 |
| Corresponding Author | Gao, Xiao-Shan |
| Affiliation | 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 |
| Recommended Citation 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. |
| Files in This Item: | There are no files associated with this item. | |||||
Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.
Edit Comment