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A Convex Optimization Approach to Time-Optimal Path Tracking Problem for Cooperative Manipulators
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering. ABB AB, Sweden.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.
2019 (English)In: IFAC PAPERSONLINE, ELSEVIER , 2019, Vol. 52, no 10, p. 400-405Conference paper, Published paper (Refereed)
Abstract [en]

This paper studies the time-optimal path tracking problem for a cooperative robotic system. The considered system is composed of two two-link planar manipulators with non-actuated end-effectors rigidly grasping a bar. Given a predefined geometric path, the objective is to cooperatively move the bar along the path in minimum time subject to inequality constraints on the joint torques. We show that this problem can be cast as a convex optimization problem by using the existing results for a single manipulator, and also the fact that the desired motion of the bar can be achieved by incorporating its dynamics into the manipulators dynamics. We illustrate our results in simulation. (C) 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

Place, publisher, year, edition, pages
ELSEVIER , 2019. Vol. 52, no 10, p. 400-405
Series
IFAC Papers Online, E-ISSN 2405-8963
Keywords [en]
Cooperative manipulators; time-optimal motion; path tracking; convex optimization
National Category
Robotics
Identifiers
URN: urn:nbn:se:liu:diva-162359DOI: 10.1016/j.ifacol.2019.10.064ISI: 000494006200071OAI: oai:DiVA.org:liu-162359DiVA, id: diva2:1374018
Conference
13th International-Federation-of-Automatic-Control (IFAC) Workshop on Intelligent Manufacturing Systems (IMS)
Note

Funding Agencies|Swedish Department of Education within the strategic research environment ELLIIT; Vinnova Competence Center LINK-SIC at Linkoping UniversityVinnova

Available from: 2019-11-28 Created: 2019-11-28 Last updated: 2019-11-28

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Haghshenas, HamedNorrlöf, MikaelHansson, Anders
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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf