Time-optimal path tracking for coordinated dual-robot system using sequential convex programming

Abstract

In this paper, the problem of time-optimal path tracking is investigated for coordinated dual-robot system. In the case of dual-robot system carrying on coordinated manipulation process with simplified physical constraints, a sequential convex programming (SCP) framework is implemented to realize time optimality. Moreover, versatile optimization objective functions for coordinated dual-robot system are adopted in order to realize the minimization on the energy in the coordination process and the two-norm of the generalized forces applied on the object. Additionally, several physical constraints in the coordination process are considered including the joint torque, velocity, acceleration and the generalized contact force to ensure safety and stability. As a general conclusion, the SCP method offers an efficient solution to the proposed problem and achieves ideal results.