Fast Interpolation and Time-Optimization on Implicit Contact Submanifolds

Hauser, Kris

doi:10.15607/rss.2013.ix.022

Cited by 29 publications

(17 citation statements)

References 18 publications

(37 reference statements)

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“…Different grid sizes (N ) and number of degrees of freedom to optimize (DOF) were reported or tested. Next, in order to make a "formal" comparison -on the same computer and using the same programming language, we considered MINTOS (http://www.iu.edu/ ∼ motion/mintos/, last accessed December 2013), Hauser's recent C++ implementation of the convex optimization approach [8], which is, to our knowledge, the fastest implementation currently available. To exclude the robot dynamics computations -which are independent of the TOPP problem and whose execution times depend largely on the robot simulation software used, we considered "pure" velocity and acceleration bounds.…”

Section: Comparison With the Convex Optimization Approachmentioning

confidence: 99%

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A General, Fast, and Robust Implementation of the Time-Optimal Path Parameterization Algorithm

2014

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Finding the Time-Optimal Parameterization of a given Path (TOPP) subject to kinodynamic constraints is an essential component in many robotic theories and applications. The objective of this article is to provide a general, fast and robust implementation of this component. For this, we give a complete solution to the issue of dynamic singularities, which are the main cause of failure in existing implementations. We then present an open-source implementation of the algorithm in C++/Python and demonstrate its robustness and speed in various robotics settings.

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Section: Comparison With the Convex Optimization Approachmentioning

confidence: 99%

“…Note that all three families can be applied to a wide variety of robot dynamics and constraints, such as manipulators subject to torque bounds [13], humanoids subject to joint velocity and accelerations bounds [11], [8], mobile robots or humanoids subject to balance and friction constraints [14], [15], non-holonomic robots [16], etc.…”

Section: Introductionmentioning

confidence: 99%

A General, Fast, and Robust Implementation of the Time-Optimal Path Parameterization Algorithm

2014

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“…In Hauser (2013), a method that involves solving a series of linear programs is suggested, although this approach is for a smaller class of problems (only velocity and acceleration constraints).…”

Section: Downloaded By [Case Western Reserve University] At 15:03 04 mentioning

confidence: 99%

Minimum-time speed optimisation over a fixed path

Lipp

Boyd

2014

International Journal of Control

129

110

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In this paper we investigate the problem of optimising the speed of a vehicle over a fixed path for minimum time traversal. We utilise a change of variables that has been known since the 1980s, although the resulting convexity of the problem was not noted until recently. The contributions of this paper are three fold. First, we extend the convexification of the problem to a more general framework. Second, we identify a wide range of vehicle models and constraints which can be included in this expanded framework. Third, we develop and implement an algorithm that allows these problems to be solved in real time, on embedded systems, with a high degree of accuracy.

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“…Since the desired path of the robot is already defined, a scalar path coordinate (θ(t)) can be used to represent robot position on the path [4][5][6][7]. The major advantage of the scalar path coordinate is that the high dimensional state-space model of the robotic system can be reduced.…”

Section: Introductionmentioning

confidence: 99%

Path Tracking Algorithms for Non-Convex Waiter Motion Problem

Nagy

Csorvási

Vajk

2018

Period. Polytech. Elec. Eng. Comp. Sci.

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Originally, motion planning was concerned with problems such as how to move an object from a start to a goal position without hitting anything. Later, it has extended with complications such as kinematics, dynamics, uncertainties, and also with some optimality purpose such as minimum-time, minimum-energy planning. The paper presents a time-optimal approach for robotic manipulators.A special area of motion planning is the waiter motion problem, in which a tablet is moved from one place to another as fastas possible, avoiding the slip of the object that is placed upon it. The presented method uses the direct transcription approach for the waiter problem, which means a optimization problem is formed in order to obtain a time-optimal control for the robot. Problem formulation is extended with a non-convex jerk constraints to avoid unwanted oscillations during the motion. The possible local and global solver approaches for the presented formulation are discussed, and the waiter motion problem is validated by real-life experimental results with a 6-DoF robotic arm.Keywords motion planning, minimum-time control, time-optimal control, convex optimisation, robot control 1 Introduction Time-optimal motion planning has been a topic of active research since the 1980. Minimum-time algorithms can maximize productivity, and reduce energy consumption of the robotic system. Direct approaches [1] or one step methods solve the entire problem in one step. In general it is a highly difficult task, since both the geometric constraints (including collision avoidance), and the timing along this geometric path (including dynamic limitation) have to be optimized.As an alternative to direct approach, the motion planning problem is often decoupled [2,3]. First, a high-level geometry path planner determines a path for the robot considering geometric constraints and ignoring system dynamics. In the next stage (path tracking), a velocity profile for a predefined path is generated, where all constraints of the robot are applied for the fixed path. Decoupled approach is preferred to direct approach for its lower computational time.In this paper, we will focus on the second stage of the decoupled motion planning approach. Since the desired path of the robot is already defined, a scalar path coordinate

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Fast Interpolation and Time-Optimization on Implicit Contact Submanifolds

Cited by 29 publications

References 18 publications

A General, Fast, and Robust Implementation of the Time-Optimal Path Parameterization Algorithm

A General, Fast, and Robust Implementation of the Time-Optimal Path Parameterization Algorithm

Minimum-time speed optimisation over a fixed path

Path Tracking Algorithms for Non-Convex Waiter Motion Problem

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