A Task Space Approach for Planar Optimal Robot Tube Following

Matthias Oberherber; Hubert Gattringer; Andreas Müller; Michael Schachinger

doi:10.5220/0005980303270334

A Task Space Approach for Planar Optimal Robot Tube Following

Matthias Oberherber, Hubert Gattringer, Andreas Müller, Michael Schachinger

Institute of Robotics

Research output: Chapter in Book/Report/Conference proceeding › Conference proceedings › peer-review

Abstract

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.

Original language	English
Title of host publication	Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics
Editors	Oleg Gusikhin, Dimitri Peaucelle and Kurosh Madani
Pages	327-334
Number of pages	8
Volume	2
DOIs	https://doi.org/10.5220/0005980303270334
Publication status	Published - Jul 2016

Fields of science

203015 Mechatronics
203022 Technical mechanics
202 Electrical Engineering, Electronics, Information Engineering
202035 Robotics
203013 Mechanical engineering

JKU Focus areas

Mechatronics and Information Processing

Access to Document

10.5220/0005980303270334

Cite this

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title = "A Task Space Approach for Planar Optimal Robot Tube Following",

abstract = "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.",

author = "Matthias Oberherber and Hubert Gattringer and Andreas M{\"u}ller and Michael Schachinger",

year = "2016",

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doi = "10.5220/0005980303270334",

language = "English",

isbn = "978-989-758-198-4",

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editor = "{Oleg Gusikhin, Dimitri Peaucelle and Kurosh Madani}",

booktitle = "Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics",

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A Task Space Approach for Planar Optimal Robot Tube Following. / Oberherber, Matthias; Gattringer, Hubert ; Müller, Andreas et al.
Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics. ed. / Oleg Gusikhin, Dimitri Peaucelle and Kurosh Madani. Vol. 2 2016. p. 327-334.

Research output: Chapter in Book/Report/Conference proceeding › Conference proceedings › peer-review

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AU - Müller, Andreas

AU - Schachinger, Michael

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N2 - 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.

AB - 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.

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DO - 10.5220/0005980303270334

M3 - Conference proceedings

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BT - Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics

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