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Time-optimal control for a robotic contour following problem

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2 Author(s)
Han-Pang Huang ; Dept. of Mech. Eng., Nat. Taiwan Univ., Taipei, Taiwan ; McClamroch, N.H.

A mathematical formulation for the time-optimal contour following problem, defined by a unilaterally constrained manipulator, is presented. The formulation includes a careful development of the manipulator dynamics and of conditions for avoidance of impact between the end effector and the constraint surface. By a priori specification of the paths for the unconstrained motion segments, a parameterization approach is used to simplify the optimal control formulation, so that solution procedures can be identified. The methodology is applied to a simple contour-following problem for a planar Cartesian manipulator

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Robotics and Automation, IEEE Journal of  (Volume:4 ,  Issue: 2 )