@inproceedings{a43ab922e0694f3083855649d1438723,
title = "Trajectory Optimization Algorithm based on Robot Dynamics and Convex Optimization",
abstract = "This paper mainly discusses the trajectory optimization problem of industrial robot along predetermined path in Cartesian space aiming at minimize the traverse time and smoothing the trajectory. The algorithm relies heavily on the complete robot dynamics model, in which both viscous friction and Coulomb friction are included. Based on convex optimization theory, the trajectory optimization formulation can transform into a second-order cone programming (SOCP) problem, which can be solved numerically through a discretization scheme and SDPT3 solver. Additionally, a constraint generated from the torque-speed curve of motors is added to the aforementioned convex optimization formulation. The simulation results show that our improved trajectory optimization algorithm attains smooth and time optimal trajectory with shorter traverse time and good tracking performance compared with previous methods.",
keywords = "convex optimization, robot dynamics, torque-speed curve, trajectory optimization",
author = "Jinhua Shen and Minxiu Kong and Yuhong Zhu",
note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 3rd IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference, IMCEC 2019 ; Conference date: 11-10-2019 Through 13-10-2019",
year = "2019",
month = oct,
doi = "10.1109/IMCEC46724.2019.8983817",
language = "英语",
series = "Proceedings of 2019 IEEE 3rd Advanced Information Management, Communicates, Electronic and Automation Control Conference, IMCEC 2019",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1583--1588",
editor = "Bing Xu",
booktitle = "Proceedings of 2019 IEEE 3rd Advanced Information Management, Communicates, Electronic and Automation Control Conference, IMCEC 2019",
address = "美国",
}