Convex Optimization Approach for Time-Optimal Path Tracking of Robots with Speed Dependent Constraints

Ardeshiri, Tohid,1980-Linköpings universitet,Reglerteknik,Tekniska högskolan (author)

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.

Norrlöf, Mikael,1971-Linköpings universitet,Reglerteknik,Tekniska högskolan(Swepub:liu)mikno78 (author)
Löfberg, Johan,1974-Linköpings universitet,Reglerteknik,Tekniska högskolan(Swepub:liu)johlo46 (author)
Hansson, AndersLinköpings universitet,Reglerteknik,Tekniska högskolan(Swepub:liu)andha17 (author)
Linköpings universitetReglerteknik (creator_code:org_t)

In:Proceedings of the 18th IFAC World Congress: IFAC, s. 14648-146539783902661937

By the author/editor: Ardeshiri, Tohid ...; Norrlöf, Mikael, ...; Löfberg, Johan, ...; Hansson, Anders

About the subject

ENGINEERING AND TECHNOLOGY: ENGINEERING AND ...; and Electrical Engin ...; and Control Engineer ...

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