Time-Optimal Path Following with Bounded Joint Accelerations and Velocities

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Please use this identifier to cite or link to this item: http://hdl.handle.net/1853/42108

Title: Time-Optimal Path Following with Bounded Joint Accelerations and Velocities
Author: Kunz, Tobias ; Stilman, Mike
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.
Type: Technical Report
URI: http://hdl.handle.net/1853/42108
Date: 2011
Contributor: Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Relation: GT-GOLEM-2011-007
Publisher: Georgia Institute of Technology
Subject: Circular blends
Circular segment
Geometric path
Waypoints

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