Time-Optimal Control for a Robotic Contour Following Problem
Journal
IEEE Journal on Robotics and Automation
Journal Volume
4
Journal Issue
2
Pages
140-149
Date Issued
1988
Author(s)
Abstract
A mathematical formulation for the time-optimal contour following problem, defined by a unilaterally constrained manipulator, is presented. The formulation includes a careful development of the manipulator dynamics and of conditions for avoidance of impact between the end effector and the constraint surface. By a priori specification of the paths for the unconstrained motion segments, a parameterization approach is used to simplify the optimal control formulation, so that solution procedures can be identified. The methodology is applied to a simple contour-following problem for a planar Cartesian manipulator.>
Type
journal article