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


  • Qiang Zhang Automation Department China University of Petroleum(East China)
  • Shu-Rong Li Automation Department China University of Petroleum(East China)
  • Jian-Xin Guo Academy of Mathematics and Systems Science Chinese Academy of Sciences
  • Xiao-Shan Gao Academy of Mathematics and Systems Science Chinese Academy of Sciences


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


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.


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