Convex time-optimal robot path following with Cartesian acceleration and inertial force and torque constraints.
Frederik DebrouwereWannes Van LoockGoele PipeleersMoritz DiehlJan SweversJoris De SchutterPublished in: J. Syst. Control. Eng. (2013)
Keyphrases
- contact force
- obstacle avoidance
- force control
- dynamic model
- globally optimal
- mobile robot
- position control
- master slave
- inequality constraints
- constrained optimization
- vision system
- human robot interaction
- robot navigation
- linear constraints
- humanoid robot
- convex constraints
- finite element analysis
- quasiconvex
- end effector
- physical constraints
- dynamic programming
- constrained minimization
- tactile sensing
- robotic manipulator
- linear programming problems
- finite element model
- control scheme
- convex optimization
- convex hull
- worst case