Tractable Algorithm for Robust Time-Optimal Trajectory Planning of Robotic Manipulators under Confined Torque

Qiang Zhang, Shu-Rong Li, Jian-Xin Guo, Xiao-Shan Gao


In this paper, the problem of time optimal trajectory planning under confined torque and uncertain dynamics and torque parameters along a predefined geometric path is considered. It is shown that the robust optimal solution to such a problem can be obtained by solving a linear program. Thus a tractable algorithm is given for robust time-optimal path-tracking control under confined torque.


robust optimal control, time minimum trajectory planning, parameter uncertainties, tractable algorithm

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