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Convex Optimization...
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Ardeshiri, Tohid,1980-Linköpings universitet,Reglerteknik,Tekniska högskolan
(author)
Convex Optimization Approach for Time-Optimal Path Tracking of Robots with Speed Dependent Constraints
- Article/chapterEnglish2011
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IFAC,2011
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electronicrdacarrier
Numbers
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LIBRIS-ID:oai:DiVA.org:liu-73680
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https://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-73680URI
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https://doi.org/10.3182/20110828-6-IT-1002.01136DOI
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Language:English
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Summary in:English
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Subject category:ref swepub-contenttype
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Subject category:kon swepub-publicationtype
Notes
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The task of generating time optimal trajectories for a six degrees of freedom industrial robot is discussed and an existing convex optimization formulation of the problem is extended to include new types of constraints. The new constraints are speed dependent and can be motivated from physical modeling of the motors and the drive system. It is shown how the speed dependent constraints should be added in order to keep the convexity of the overall problem. A method to, conservatively, approximate the linear speed dependent constraints by a convex constraint is also proposed. A numerical example proves versatility of the extension proposed in this paper.
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Norrlöf, Mikael,1971-Linköpings universitet,Reglerteknik,Tekniska högskolan(Swepub:liu)mikno78
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Löfberg, Johan,1974-Linköpings universitet,Reglerteknik,Tekniska högskolan(Swepub:liu)johlo46
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Hansson, AndersLinköpings universitet,Reglerteknik,Tekniska högskolan(Swepub:liu)andha17
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Linköpings universitetReglerteknik
(creator_code:org_t)
Related titles
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In:Proceedings of the 18th IFAC World Congress: IFAC, s. 14648-146539783902661937
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