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Time-Optimal Path Tracking for Robots: A Convex Optimization Approach

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5 Author(s)
Verscheure, D. ; Dept. of Mech. Eng., Katholieke Univ. Leuven, Leuven, Belgium ; Demeulenaere, B. ; Swevers, J. ; De Schutter, J.
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This paper focuses on time-optimal path tracking, a subproblem in time-optimal motion planning of robot systems. Through a nonlinear change of variables, the time-optimal path tracking problem is transformed here into a convex optimal control problem with a single state. Various convexity-preserving extension are introduced, resulting in a versatile approach for optimal path tracking. A direct transcription method is presented that reduces finding the globally optimal trajectory to solving a second-order cone program using robust numerical algorithms that are freely available. Validation against known examples and application to a more complex example illustrate the versatility and practicality of the new method.

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Automatic Control, IEEE Transactions on  (Volume:54 ,  Issue: 10 )