An efficient stochastic approach for robust time-optimal trajectory planning of robotic manipulators under limited actuation

doi:10.1017/S026357471700011X

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	An efficient stochastic approach for robust time-optimal trajectory planning of robotic manipulators under limited actuation
	Zhao, Ming-Yong 1,2; Gao, Xiao-Shan1 ; Zhang, Qiang 1
刊名	ROBOTICA
	2017-12-01
卷号	35 期号:12 页码:2400-2417
关键词	Robust trajectory planning Robotic manipulators Stochastic optimization Probability constraint Linear programming
ISSN号	0263-5747
DOI	10.1017/S026357471700011X
英文摘要	This paper focuses on the problem of robust time-optimal trajectory planning of robotic manipulators to track a given path under a probabilistic limited actuation, that is, the probability for the actuation to be limited is no less than a given bound kappa We give a general and practical method to reduce the probabilistic constraints to a set of deterministic constraints and show that the deterministic constraints are equivalent to a set of linear constraints under certain conditions. As a result, the original problem is reduced to a linear optimal control problem which can be solved with linear programming in polynomial time. In the case of kappa = 1, the original problem is proved to be equivalent to the linear optimal control problem. Overall, a very general, practical, and efficient algorithm is given to solve the above problem and numerical simulation results are used to show the effectiveness of the method.
资助项目	NSFC[NSFC 11688101]
WOS研究方向	Robotics
语种	英语
出版者	CAMBRIDGE UNIV PRESS
WOS记录号	WOS:000414664100008
内容类型	期刊论文
源URL	[http://ir.amss.ac.cn/handle/2S8OKBNM/26943]
专题	系统科学研究所
通讯作者	Gao, Xiao-Shan
作者单位	1.Chinese Acad Sci, Acad Math & Syst Sci, KLMM, Beijing 100190, Peoples R China 2.Tsinghua Univ, Dept Mech Engn, BKLPUMEC, Beijing 100084, Peoples R China
推荐引用方式 GB/T 7714	Zhao, Ming-Yong,Gao, Xiao-Shan,Zhang, Qiang. An efficient stochastic approach for robust time-optimal trajectory planning of robotic manipulators under limited actuation[J]. ROBOTICA,2017,35(12):2400-2417.
APA	Zhao, Ming-Yong,Gao, Xiao-Shan,&Zhang, Qiang.(2017).An efficient stochastic approach for robust time-optimal trajectory planning of robotic manipulators under limited actuation.ROBOTICA,35(12),2400-2417.
MLA	Zhao, Ming-Yong,et al."An efficient stochastic approach for robust time-optimal trajectory planning of robotic manipulators under limited actuation".ROBOTICA 35.12(2017):2400-2417.