Time-optimal path following for non-redundant serial manipulators using an adaptive path-discretization

Abstract The time-optimal path following (OPF) problem is to find a time evolution along prescribed in task space with shortest duration. Numerical solution algorithms rely on an algorithm-specific (usually equidistant) sampling of the parameter. This does not account for dynamics joint space, that is, actual motion robot, however. Moreover, well-known large velocities are obtained when approaching singularities, even slow motions. can be avoided by where parameter replaced arc length. Such discretization leads adaptive refinement according nonlinear forward kinematics and guarantees bounded velocities. also beneficial numerical problem. It shown this yields trajectories improved continuity compared equidistant sampling. OPF reformulated as second-order cone programming solved numerically. approach demonstrated 6-DOF industrial robot various paths space.