Matthias Oberherber, Hubert Gattringer, Andreas Müller, Michael Schachinger,
"A Task Space Approach for Planar Optimal Robot Tube Following"
, in Oleg Gusikhin, Dimitri Peaucelle and Kurosh Madani: Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics, Vol. 2, Seite(n) 327-334, 7-2016, ISBN: 978-989-758-198-4
A Task Space Approach for Planar Optimal Robot Tube Following
Sprache des Titels:
Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics
The classical optimal path following problem considers the problem of moving optimally along a predefined
geometric path under technological restrictions. In contrast to optimal path following, optimal tube following
allows deviations from the initial path within a predefined tube to reduce cost even more. The present paper
proposes a modern approach that treats this non-convex problem in task space. This novel method also provides a simple way to derive optimal trajectories within a tube described in terms of polygonal lines. Numerical
examples are presented that allow to compare the proposed method to existing joint space approaches.