Paper Info
Title
Optimal time-complexity speed planning for robot manipulators.
Abstract
In this paper, we consider the speed planning problem for a robotic manipulator. In particular, we present an algorithm for finding the time-optimal speed law along an assigned path that satisfies velocity and acceleration constraints and respects the maximum forces and torques allowed by the actuators. The addressed optimization problem is a finite-dimensional reformulation of the continuous-time speed optimization problem, obtained by discretizing the speed profile with <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$n$</tex-math></inline-formula> points. The proposed algorithm has linear complexity with respect to <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$n$</tex-math></inline-formula> and to the number of degrees of freedom. Such complexity is the best possible for this problem. Numerical tests show that the proposed algorithm is significantly faster than algorithms already existing in literature.
Year
DOI
Venue
2018
10.1109/TRO.2019.2899212
IEEE Transactions on Robotics
Keywords
Field
DocType
Planning,Manipulators,Optimization,Complexity theory,Acceleration,Linear programming
Discretization,Torque,Control theory,Computer science,Acceleration,Linear complexity,Time complexity,Robot manipulator,Optimization problem,Actuator
Journal
Volume
Issue
ISSN
abs/1802.03294
3
1552-3098
Citations 
PageRank 
References 
5
0.49
8
Authors
5
Name
Order
Citations
PageRank
Luca Consolini127631.16
Marco Locatelli292680.28
Andrea Minari3162.22
akos nagy4102.36
István Vajk5288.86