Time-Optimal Path Tracking for Robots: A Convex Optimization Approach
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Time-Optimal Path Tracking: Online Scaling with Guarantees
Given a geometric path, the Time-Optimal Path Tracking problem consists in finding the control strategy to traverse the path time-optimally while regulating tracking errors. A simple yet effective approach to this problem is to decompose the controller into two components: (i) a
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The task of generating time optimal trajectories for a six degrees of freedom industrial robot is discussed in the paper and an existing convex optimization formulation of the problem is extended to include new types of constraints. The new constraints are speed dependent and can
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Optimal paths are in many ways interesting to motion planning. Not only they are obviously the most interesting ones with respect to the optimized criterion , but also they ooer a way of studying the topolog-ical aspects associated to the controllability of the system. Many works
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