Title:
Time-Optimal Trajectory Generation for Path Following with Bounded Acceleration and Velocity
Time-Optimal Trajectory Generation for Path Following with Bounded Acceleration and Velocity
Author(s)
Kunz, Tobias
Stilman, Mike
Stilman, Mike
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Abstract
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.
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Date Issued
2012-07
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Text
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Proceedings