Name
Title | ||
|---|---|---|
Nearly Optimal Path Following With Jerk and Torque Rate Limits Using Dynamic Programming. |
Abstract | ||
|---|---|---|
This paper presents a new dynamic programming (DP) approach to the optimal path following problem. The method rests on an interpolation in the phase plane so that the resulting joint accelerations and joint torques are continuous. This allows for taking into account limits on the joint jerks and torque rates in addition to joint velocities, accelerations, torques, and the mechanical power. Most me... |
Year | DOI | Venue |
|---|---|---|
2019 | 10.1109/TRO.2018.2880120 | IEEE Transactions on Robotics |
Keywords | Field | DocType |
Torque,Manipulators,Trajectory,Optimization,Heuristic algorithms,Interpolation | Dynamic programming,Torque,Trajectory optimization,Control theory,Jerk,Interpolation,Phase plane,Trajectory,Mathematics,Computation | Journal |
Volume | Issue | ISSN |
35 | 2 | 1552-3098 |
Citations | PageRank | References |
0 | 0.34 | 7 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Dominik Kaserer | 1 | 0 | 1.69 |
| Hubert Gattringer | 2 | 12 | 9.89 |
| Andreas Müller | 3 | 1 | 1.71 |