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

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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.

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Acknowledgements

The authors would like to thank Prof. Dimitry V. Zenkov and the reviewers for their constructive suggestions. This project is supported by the National Natural Science Foundation of China (Grant Nos. 11872107, 11672032).

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  1. School of Mathematics and Statistics, Beijing Institute of Technology, Beijing, 100081, China

    Zhipeng An, Huibin Wu & Donghua Shi

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  1. Zhipeng An
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  2. Huibin Wu
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  3. Donghua Shi
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Correspondence to Donghua Shi.

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An, Z., Wu, H. & Shi, D. Minimum-time optimal control of robotic manipulators based on Hamel’s integrators. Meccanica 54, 2521–2537 (2019). https://doi.org/10.1007/s11012-019-01093-1

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