 |
|
|
|
|
Time-Optimal Path Following (July 2012)
We introduce a novel method to generate the time-optimal trajectory
that exactly follows a given differentiable joint-space path within
given bounds on joint accelerations and velocities. We also present a
path preprocessing method to make nondifferentiable paths
differentiable by adding circular blends. We introduce improvements to
existing work that make the algorithm more robust in the presence of
numerical inaccuracies. Furthermore we validate our methods on
hundreds of randomly generated test cases on simulated and real 7-DOF
robot arms. Finally, we provide open source software that implements
our algorithms.
Source Code
https://github.com/tobiaskunz/trajectories
Publications:
Conference
- 2012
Tobias Kunz and Mike Stilman
Time-Optimal Trajectory Generation for Path Following with Bounded Acceleration and Velocity
Robotics: Science and Systems.
2012.
This paper presents a novel method to generate the time-optimal
trajectory that exactly follows a given differentiable joint-space
path within given bounds on joint accelerations and velocities. We
also present a path preprocessing method to make nondifferentiable
paths differentiable by adding circular blends. We introduce
improvements to existing work that make the algorithm more robust in
the presence of numerical inaccuracies. Furthermore we validate our
methods on hundreds of randomly generated test cases on simulated and
real 7-DOF robot arms. Finally, we provide open source software that
implements our algorithms.
@inproceedings{kunz2012time,
title = {Time-Optimal Trajectory Generation for Path Following with Bounded Acceleration and Velocity},
pages = {09--13},
month = {July},
booktitle = {Robotics: Science and Systems},
author = {Tobias Kunz and Mike Stilman},
year = {2012}
}
People
|
|
|
|
|
|
 |
|