A convex relaxation for the time-optimal trajectory planning of robotic manipulators along predetermined geometric paths

DOI10.1002/oca.2234zbMath1351.93098OpenAlexW2337407423MaRDI QIDQ2835507

Wenjie Chen, Masayoshi Tomizuka, P. Reynoso-Mora

Publication date: 5 December 2016

Published in: Optimal Control Applications and Methods (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/oca.2234

zbMATH Keywords

convex optimizationrobotic manipulatorsnonlinear dynamic modeltime-optimal trajectories

Mathematics Subject Classification ID

Applications of optimal control and differential games (49N90) Automated systems (robots, etc.) in control theory (93C85) Control/observation systems governed by ordinary differential equations (93C15) Artificial intelligence for robotics (68T40)

Related Items

Time optimal control laws for bilinear systems

Uses Software

• CVX
• Robotics

Cites Work

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• Applications of second-order cone programming
• Graph Implementations for Nonsmooth Convex Programs
• Minimum-time control of robotic manipulators with geometric path constraints
• Intermediate Dynamics for Engineers
• Smooth and time-optimal trajectory planning for industrial manipulators along specified paths
• Time-Optimal Path Tracking for Robots: A Convex Optimization Approach
• Planning Algorithms