Title:
Time-Optimal Path Following with Bounded Joint Accelerations and Velocities
Time-Optimal Path Following with Bounded Joint Accelerations and Velocities
Author(s)
Kunz, Tobias
Stilman, Mike
Stilman, Mike
Advisor(s)
Editor(s)
Collections
Supplementary to
Permanent Link
Abstract
This paper presents a method to generate the time-optimal
trajectroy 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.
Sponsor
Date Issued
2011
Extent
Resource Type
Text
Resource Subtype
Technical Report