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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Cited articles

Ardeshiri, T., Norlöf, M., Löfberg, J., and Hansson, A.: Convex optimization approach for time optimal path tracking of robots with speed dependent constraints, in: Proceedings of the 18th IFAC Congress, Milano, Italy, 28 August–2 September 2011, 14648–14653, 2011.
Bellman, R. E. and Dreyfus, S. E.: Applied Dynamic Programming, Princeton University Press, Princeton, New Jersey, USA, 1962.
Bobrow, J. E.: Optimal Robot Path Planning Using the Minimum-Time Criterion, IEEE Journal of Robotics and Automation, 4, 443–450, 1988.
Bobrow, J. E., Dubowsky, S., and Gibson, J. S.: Time-optimal control of robotic manipulators along specified paths, Int. J. Robot. Res., 4, 3–17, 1985.
Bremer, H.: Elastic Multibody Dynamics: A Direct Ritz Approach, Springer Netherlands, Dordrecht, Netherlands, 2008.
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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.