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

@article{Shiller1991OnCT,
  title={On computing the global time-optimal motions of robotic manipulators in the presence of obstacles},
  author={Zvi Shiller and Steven Dubowsky},
  journal={IEEE Trans. Robotics Autom.},
  year={1991},
  volume={7},
  pages={785-797}
}
A method for computing the time-optimal motions of robotic manipulators is presented that considers the nonlinear manipulator dynamics, actuator constraints, joint limits, and obstacles. The optimization problem is reduced to a search for the time-optimal path in the n-dimensional position space. A small set of near-optimal paths is first efficiently selected for a grid, using a branch and bound search and a series of lower bound estimates on the traveling time along a given path. These paths… 

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