Articles | Volume 6, issue 2
Mech. Sci., 6, 245–254, 2015
https://doi.org/10.5194/ms-6-245-2015

Special issue: Modelling and control of robots

Mech. Sci., 6, 245–254, 2015
https://doi.org/10.5194/ms-6-245-2015
Research article
26 Oct 2015
Research article | 26 Oct 2015

Successive dynamic programming and subsequent spline optimization for smooth time optimal robot path tracking

M. Oberherber et al.

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Latest update: 18 May 2022
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Short summary
The time optimal path following problem for industrial robots regards the problem of generating trajectories that follow predefined end-effector paths in shortest time possible, taking into account kinematic and dynamic constraints. This paper proposes an approach to deal with arbitrary long geometric paths. Further a method is presented to achieve suitable smooth trajectories for an implementation on a real robot, in an easy way.