Time-Optimal Path Following with Bounded Joint Accelerations and Velocities

dc.contributor.author	Kunz, Tobias
dc.contributor.author	Stilman, Mike
dc.date.accessioned	2011-12-21T22:45:19Z
dc.date.available	2011-12-21T22:45:19Z
dc.date.issued	2011
dc.identifier.uri	http://hdl.handle.net/1853/42108
dc.description.abstract	This paper presents a method to generate the time-optimal trajectroy 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.	en_US
dc.language.iso	en_US	en_US
dc.publisher	Georgia Institute of Technology	en_US
dc.relation.ispartofseries	GT-GOLEM-2011-007	en_US
dc.subject	Circular blends	en_US
dc.subject	Circular segment	en_US
dc.subject	Geometric path	en_US
dc.subject	Waypoints	en_US
dc.title	Time-Optimal Path Following with Bounded Joint Accelerations and Velocities	en_US
dc.type	Text
dc.contributor.corporatename	Georgia Institute of Technology. Center for Robotics and Intelligent Machines
dc.type.genre	Technical Report