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Time-optimal path tracking for robots under dynamics constraints based on convex optimization

文献类型：期刊论文

作者Zhang, Qiang1,2; Li, Shurong2; Guo, Jian-Xin1; Gao, Xiao-Shan1
刊名ROBOTICA
出版日期2016-09-01
卷号34期号:9页码:2116-2139
关键词Robotic manipulators Motor dynamics Path tracking Optimal trajectory Optimal control Convex optimization
ISSN号0263-5747
DOI10.1017/S0263574715000247
英文摘要To fully utilize the dynamic performance of robotic manipulators and enforce minimum motion time in path tracking, the problem of minimum time path tracking for robotic manipulators under confined torque, change rate of the torque, and voltage of the DC motor is considered. The main contribution is the introduction of the concepts of virtual change rate of the torque and the virtual voltage, which are linear functions in the state and control variables and are shown to be very tight approximation to the real ones. As a result, the computationally challenging non-convex minimum time path tracking problem is reduced to a convex optimization problem which can be solved efficiently. It is also shown that introducing dynamics constraints can significantly improve the motion precision without costing much in motion time, especially in the case of high speed motion. Extensive simulations are presented to demonstrate the effectiveness of the proposed approach.
资助项目National Key Basic Research Project of China[2011CB302400] ; NSFC[60821002]
WOS研究方向Robotics
语种英语
WOS记录号WOS:000382716200012
出版者CAMBRIDGE UNIV PRESS
源URL[http://ir.amss.ac.cn/handle/2S8OKBNM/23495]  
专题系统科学研究所
通讯作者Gao, Xiao-Shan
作者单位1.Chinese Acad Sci, Acad Math & Syst Sci, Beijing, Peoples R China
2.China Univ Petr East China, Dept Automat, Qingdao, Peoples R China
推荐引用方式
GB/T 7714		 Zhang, Qiang,Li, Shurong,Guo, Jian-Xin,et al. Time-optimal path tracking for robots under dynamics constraints based on convex optimization[J]. ROBOTICA,2016,34(9):2116-2139.
APA Zhang, Qiang,Li, Shurong,Guo, Jian-Xin,&Gao, Xiao-Shan.(2016).Time-optimal path tracking for robots under dynamics constraints based on convex optimization.ROBOTICA,34(9),2116-2139.
MLA Zhang, Qiang,et al."Time-optimal path tracking for robots under dynamics constraints based on convex optimization".ROBOTICA 34.9(2016):2116-2139.

入库方式： OAI收割

来源：数学与系统科学研究院

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