# 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…

## 223 Citations

### OPTIMAL TRAJECTORY PLANNING OF ROBOT MANIPULATORS IN THE PRESENCE OF MOVING OBSTACLES

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### Efficient Algorithm for Time-Optimal Control of a Two-Link Manipulator

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- 1990

A new, very fast algorithm for determining minimum-time trajectories for bang-bang control systems that seeks to minimize the time required to force a manipulator to travel a specified distance.

### Reliable computation of minimum-time motions for manipulators moving in obstacle fields using a successive search for minimum-overload trajectories

- EngineeringJ. Field Robotics
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By successive searches for minimum-overload trajectories, minimum-time motions are determined for three example manipulators without simplifying any of the kinematic, dynamic or geometric properties of the manipulators or the obstacles.

### Minimum-time motions of manipulators with obstacles by successive searches for minimum-overload trajectories

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- 2002

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Experimental results of the implemented planner show that it is efficient and reliable; for example, the planner is able to find complex manipulation motions for a system with seventy eight degrees of freedom.

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Two related mixed integer linear programming (MILP) formulations that provide schedules that are lower and upper bounds on the optimum; the upper bound schedule is a continuous velocity schedule.

### Collision-Free Trajectory Planning for a 3-DoF Robot with a Passive Joint

- EngineeringInt. J. Robotics Res.
- 2000

This paper studies motion planning from one zero-velocity state to another for a three-joint robot in a horizontal plane with a passive revolute third joint and describes a computationally efficient trajectory planner that finds fast, collision-free trajectories among obstacles.

### Interactive time optimal robot motion planning and work-cell layout design

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- 1989

An interactive software system that considers the full robot dynamics, actuator constraints, on the payload acceleration or the gripping force, and any number of polygonal obstacles of any shape to compute the time-optimal motions.

### Review of the Literature on Time-Optimal Control of Robotic Manipulators

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An algorithm for finding the time optimal motion along prespecified paths that explores this idea will be presented and it will be shown that so called singular arcs exist on which the algorithm will fail.

### Online obstacle avoidance at high speeds †

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An efficient algorithm for online avoidance of static obstacles that accounts for robot dynamics and actuator constraints is presented and was demonstrated on an experimental mobile robot moving at high speeds in a known environment.

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