Improving the Efficiency of Time-Optimal Path-Following Algorithms

Jean Jacques E. Slotine, Hyun Seok Yang

Research output: Contribution to journalArticle

155 Citations (Scopus)

Abstract

This communication presents a new method which significantly improves the computational efficiency of time-optimal path-following planning algorithms for robot manipulators with limited actuator torques. Characteristic switching points are identified and characterized analytically as functions of the single parameter defining the position along the path. Limit curves are then constructed from the characteristic switching points, in contrast with the so-called maximum velocity curve approach of existing methods. A new efficient algorithm is proposed which exploits the characteristics of the newly defined concepts. The algorithm can also account for viscous friction effects and smooth state-dependent actuator bounds. A numerical example, while showing the consistence of the algorithm with the existing techniques, demonstrates its potential for increasing computational efficiency by several orders of magnitude.

Original languageEnglish
Pages (from-to)118-124
Number of pages7
JournalIEEE Transactions on Robotics and Automation
Volume5
Issue number1
DOIs
Publication statusPublished - 1989 Jan 1

Fingerprint

Computational efficiency
Actuators
Motion planning
Manipulators
Torque
Robots
Friction
Communication

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

@article{bb61e2cb1a8740a1b2c4a138d70c2464,
title = "Improving the Efficiency of Time-Optimal Path-Following Algorithms",
abstract = "This communication presents a new method which significantly improves the computational efficiency of time-optimal path-following planning algorithms for robot manipulators with limited actuator torques. Characteristic switching points are identified and characterized analytically as functions of the single parameter defining the position along the path. Limit curves are then constructed from the characteristic switching points, in contrast with the so-called maximum velocity curve approach of existing methods. A new efficient algorithm is proposed which exploits the characteristics of the newly defined concepts. The algorithm can also account for viscous friction effects and smooth state-dependent actuator bounds. A numerical example, while showing the consistence of the algorithm with the existing techniques, demonstrates its potential for increasing computational efficiency by several orders of magnitude.",
author = "Slotine, {Jean Jacques E.} and Yang, {Hyun Seok}",
year = "1989",
month = "1",
day = "1",
doi = "10.1109/70.88024",
language = "English",
volume = "5",
pages = "118--124",
journal = "IEEE Transactions on Robotics and Automation",
issn = "1042-296X",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "1",

}

Improving the Efficiency of Time-Optimal Path-Following Algorithms. / Slotine, Jean Jacques E.; Yang, Hyun Seok.

In: IEEE Transactions on Robotics and Automation, Vol. 5, No. 1, 01.01.1989, p. 118-124.

Research output: Contribution to journalArticle

TY - JOUR

T1 - Improving the Efficiency of Time-Optimal Path-Following Algorithms

AU - Slotine, Jean Jacques E.

AU - Yang, Hyun Seok

PY - 1989/1/1

Y1 - 1989/1/1

N2 - This communication presents a new method which significantly improves the computational efficiency of time-optimal path-following planning algorithms for robot manipulators with limited actuator torques. Characteristic switching points are identified and characterized analytically as functions of the single parameter defining the position along the path. Limit curves are then constructed from the characteristic switching points, in contrast with the so-called maximum velocity curve approach of existing methods. A new efficient algorithm is proposed which exploits the characteristics of the newly defined concepts. The algorithm can also account for viscous friction effects and smooth state-dependent actuator bounds. A numerical example, while showing the consistence of the algorithm with the existing techniques, demonstrates its potential for increasing computational efficiency by several orders of magnitude.

AB - This communication presents a new method which significantly improves the computational efficiency of time-optimal path-following planning algorithms for robot manipulators with limited actuator torques. Characteristic switching points are identified and characterized analytically as functions of the single parameter defining the position along the path. Limit curves are then constructed from the characteristic switching points, in contrast with the so-called maximum velocity curve approach of existing methods. A new efficient algorithm is proposed which exploits the characteristics of the newly defined concepts. The algorithm can also account for viscous friction effects and smooth state-dependent actuator bounds. A numerical example, while showing the consistence of the algorithm with the existing techniques, demonstrates its potential for increasing computational efficiency by several orders of magnitude.

UR - http://www.scopus.com/inward/record.url?scp=0024610490&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0024610490&partnerID=8YFLogxK

U2 - 10.1109/70.88024

DO - 10.1109/70.88024

M3 - Article

VL - 5

SP - 118

EP - 124

JO - IEEE Transactions on Robotics and Automation

JF - IEEE Transactions on Robotics and Automation

SN - 1042-296X

IS - 1

ER -