Minimum-time optimal control of robotic manipulators based on Hamel’s integrators

Zhipeng An, Huibin Wu, Donghua Shi*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

8 Citations (Scopus)

Abstract

In this paper, we develop a framework of time optimization path planning for robotic manipulators surrounded by static obstacles. Our approach is based on the recursive dynamics method and Hamel’s integrators. We adopt the linear programming techniques to solve the problem of the collision avoidance expressed as state constraints. The resulting algorithm is simple to implement and the performance of this approach is demonstrated through two examples. Numerical results are shown to validate the efficiency of the proposed algorithm.

Original languageEnglish
Pages (from-to)2521-2537
Number of pages17
JournalMeccanica
Volume54
Issue number15
DOIs
Publication statusPublished - 1 Dec 2019

Keywords

  • Discrete mechanics
  • Discrete recursive dynamics
  • Hamel’s integrators
  • Optimal control
  • Robotic manipulators

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