Time-Optimal Path Tracking for Cooperative Manipulators: A Convex Optimization Approach
Robotics
2023-03-14 v1 Systems and Control
Systems and Control
Abstract
This paper studies the time-optimal path tracking problem for a team of cooperating robotic manipulators carrying an object. Considering the problem for rigidly grasped objects, we show that it can be cast as a convex optimization problem and solved efficiently with a guarantee of optimality. When formulating the problem, we avoid using a particular wrench distribution and exploit the full actuation available to the system. Then, we consider the problem for grasps using frictional forces and show that this problem also, under a force-closure grasp assumption, can be formulated as a convex optimization problem and solved efficiently and to optimality. To ensure a firm grasp, internal forces have been taken into account in this approach.
Cite
@article{arxiv.2303.07039,
title = {Time-Optimal Path Tracking for Cooperative Manipulators: A Convex Optimization Approach},
author = {Hamed Haghshenas and Anders Hansson and Mikael Norrlöf},
journal= {arXiv preprint arXiv:2303.07039},
year = {2023}
}