Tractable Algorithm for Robust Time-Optimal Trajectory Planning of Robotic Manipulators under Confined Torque

Abstract

In this paper, the problem of time optimal trajectory planning under confined torque and uncertain dynamics and torque parameters along a predefined geometric path is considered. It is shown that the robust optimal solution to such a problem can be obtained by solving a linear program. Thus a tractable algorithm is given for robust time-optimal path-tracking control under confined torque.