On computing the global time-optimal motions of robotic manipulators in the presence of obstacles

摘要: A method for computing the time-optimal motions of robotic manipulators is presented that considers nonlinear manipulator dynamics, actuator constraints, joint limits, and obstacles. The optimization problem reduced to a search path in n-dimensional position space. small set near-optimal paths first efficiently selected grid, using branch bound series lower estimates on traveling time along given path. These are further optimized with local yield global optimal solution. Obstacles considered by eliminating collision points from tessellated space adding penalty function motion optimization. computational efficiency stems dimensionality searched spaced combining grid demonstrated several examples two- six-degree-of-freedom >