Computation of Path Constrained Time Optimal Motions With Dynamic Singularities

  title={Computation of Path Constrained Time Optimal Motions With Dynamic Singularities},
  author={Z. Shiller and Hsueh-Hen Lu},
  journal={Journal of Dynamic Systems Measurement and Control-transactions of The Asme},
  • Z. Shiller, Hsueh-Hen Lu
  • Published 1992
  • Mathematics
  • Journal of Dynamic Systems Measurement and Control-transactions of The Asme
Time-optimal motion planning and control
Development that extend the state-of-the-art in time-optimal motion planning and control for robots is presented, including the existence of switching points with infinite joint jerk and the poor regulation of tracking error. Expand
Time-optimal sampling-based motion planning for manipulators with acceleration limits
State Estimation for Legged Robots - Consistent Fusion of Leg Kinematics and IMU
A state estimation framework for legged robots that allows estimating the full pose of the robot without making any assumptions about the geometrical structure of its environment is introduced by means of an Observability Constrained Extended Kalman Filter that fuses kinematic encoder data with on-board IMU measurements. Expand
Time-Optimal Path Planning and Control Using Neural Networks and a Genetic Algorithm
The use of neural networks and a genetic algorithm in time-optimal control of a closed-loop 3-dof robotic system and the results indicate that the extended Kohonen network controller is more efficient than other techniques reported in early literature when the robot is operated under normal conditions. Expand
Hybridisation of neural networks and genetic algorithms for time-optimal control
  • N. Chaiyaratana, A. Zalzala
  • Computer Science
  • Proceedings of the 1999 Congress on Evolutionary Computation-CEC99 (Cat. No. 99TH8406)
  • 1999
The results indicate that using neural network controllers is more effective than using the trajectory pre-shaping scheme, reported in early literature, and a genetic algorithm with a weighted-sum approach and a multi-objective genetic algorithm (MOGA) are used to solve aMulti-objectives optimisation problem related to time-optimal control. Expand
A General, Fast, and Robust Implementation of the Time-Optimal Path Parameterization Algorithm
This paper gives a complete solution to the issue of dynamic singularities, which are the main cause of failure in existing implementations of the time-optimal parameterization of a given path subject to kinodynamic constraints. Expand
Characterizing and addressing dynamic singularities in the time-optimal path parameterization algorithm
  • Quang-Cuong Pham
  • Mathematics, Computer Science
  • 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
  • 2013
It is shown that not all zero-inertia points are dynamically singular, which means that the analytic expressions of the correct optimal backward and forward accelerations from such points can be derived. Expand
Kinodynamic Planning in the Configuration Space via Admissible Velocity Propagation
A new technique, called Admissible Velocity Propagation (AVP), which computes exactly and efficiently the interval of all the velocities the system can reach after traversing the path while respecting the system Kinodynamic constraints, gives rise to a family of new motion planners that can appropriately handle kinodynamic constraints. Expand
Kinodynamic Planning in the Configuration Space via Velocity Interval Propagation
We propose a method that enables kinodynamic planning in the configuration space (of dimension n) instead of the state space (of dimension 2n), thereby potentially cutting down the complexity ofExpand