Articles | Volume 6, issue 2
https://doi.org/10.5194/ms-6-245-2015
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, H. Gattringer, and A. Müller

Viewed

Total article views: 2,519 (including HTML, PDF, and XML)
HTML PDF XML Total BibTeX EndNote
1,323 1,100 96 2,519 101 96
  • HTML: 1,323
  • PDF: 1,100
  • XML: 96
  • Total: 2,519
  • BibTeX: 101
  • EndNote: 96
Views and downloads (calculated since 26 Oct 2015)
Cumulative views and downloads (calculated since 26 Oct 2015)

Cited

Latest update: 24 Apr 2025
Download
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.
Share