A Computationally Efficient Algorithm to Find Time-Optimal Trajectory of Redundantly Actuated Robots Moving on a Specified Path

摘要

Time-optimal problem for redundantly actuated robots moving on a specifiedpath is a challenging problem. Although the problem is well explored and thereare proposed solutions based on phase plane analysis, there are still severalun-resolved issues regarding calculation of solution curve. In this paper, weexplore the characteristics of maximum velocity curve (MVC) and propose anefficient algorithm to establish the solution curve. Then we propose astraightforward method to calculate the maximum/minimum possible accelerationon the path based on the pattern of saturated actuators, which substantiallyreduces the computational cost. Several numerical examples are provided toillustrate the issues and the solutions.