Time-optimal robot path following with Cartesian acceleration constraints: a convex optimization approach

摘要

Abstract—In time-optimal robot path following a predetermined geometric trajectory is followed exactly in a time-optimal way considering actuator constraints. This optimization problem can be reformulated into a convex optimization problem [1]. In this paper the convex approach is extended to account for Cartesian acceleration constraints, and in turn account for inertial forces an torques acting on a load held by the robot. The focus here lies on the reformulation of the Cartesian acceleration and inertial forces and torques acting on the load to preserve the convexity of the optimization problem. Furthermore, we show that the dynamic effects of the load onto the actuator dynamics also preserves convexity of the optimization problem. We present a series of applications that result in solving a convex optimization problem, illustrating the practicality of the proposed reformulations.