Time-Optimal Pick-and-Throw S-Curve Trajectories for Fast Parallel Robots

Synchronized trigonometric S-Curve trajectory for jerk-Bounded Time-Optimal pick and Place Operation

Industrial robots are predominately used in point-to-point applications such as machine loading and unloading and spot welding. A smooth and time-optimal trajectory of robot is essential for precise handling applications. Lot of jerk-limited motion profiles are proposed in the literature and are classified under two approaches. In the first approach, the motion profiles are generated using pred...

Geometric Construction of Time Optimal Trajectories for Differential Drive Robots

We assume a differential drive mobile robot: two unsteered coaxial wheels are independently actuated. Each wheel has bounded velocity, but no bound on torque or acceleration. Pontryagin’s Maximum Principle gives an elegant description of the extremal trajectories, which are a superset of the time optimal trajectories. Further analysis gives an enumeration of the time optimal trajectories, and m...

Time Optimal Trajectories for Bounded Velocity Differential Drive Robots

A differential drive robot is perhaps the simplest type of mobile robot, and the bounded velocity model is perhaps the simplest useful model of the admissible controls. This paper develops the bounded velocity model for diff drive mobile robots, and derives the time-optimal trajectories.

Optimal Trajectories for Nonholonomic Mobile Robots

Energy-Optimal Trajectories for Overactuated Robots

We present a method for computing energy optimal trajectories for an overactuated wheeled robot under quasistatic conditions, enabling it to climb over discontinuous terrain. The trajectories can be arbitrarily close to optimal with respect to energy, depending on available computing resources. We apply our approach to control the Goes-Over-All-Terrain (GOAT) vehicle. The GOAT has four active w...