Time‐optimal motion planning along prescribed paths with friction and power constraints

摘要

Abstract Time‐optimal motion planning along specified paths is a well‐understood problem in robotics for which well‐established methods exist for some standard effects, such as actuator force limits, maximal path velocity, or sliding friction. This paper describes an extension of the classical method that allows for considering, on the one hand side, additional non linear constraints such as sticking friction, acceleration limits at the end‐effector, as well power limits for the overall system, and on the other, general paths featuring smooth interpolation of angular acceleration as well as arbitrary multibody systems comprising multiple loops. The methods are illustrated with two applications from robotics and the mining industry. (© 2011 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)