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Article Dans Une Revue IEEE/ASME Transactions on Mechatronics Année : 2015

Time-Optimal Path Parameterization for Redundantly-Actuated Robots (Numerical Integration Approach)

Résumé

Time-Optimal Path Parameterization (TOPP) under ac-tuation bounds plays a fundamental role in many robotic theories and applications. This algorithm was first developed and perfected for classical serial robotic manipulators whose actuation is non-redundant. Yet, redundantly-actuated systems, such as parallel manipulators or humanoid robots in multi-contact tasks, are increasingly common in all fields of robotics. Here we extend the classical algorithm of TOPP (a.k.a. numerical integration approach) to the case of redundantly-actuated systems. As illustration, we present an application to multi-contact trajectory planning for a humanoid robot.
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Dates et versions

hal-01138098 , version 1 (01-04-2015)

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Citer

Quang-Cuong Pham, Olivier Stasse. Time-Optimal Path Parameterization for Redundantly-Actuated Robots (Numerical Integration Approach). IEEE/ASME Transactions on Mechatronics, 2015, 20 (6), pp.3257-3263. ⟨10.1109/TMECH.2015.2409479⟩. ⟨hal-01138098⟩
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