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arXiv · 2303.07039

Time-Optimal Path Tracking for Cooperative Manipulators: A Convex Optimization Approach

Hamed Haghshenas·Anders Hansson·Mikael Norrlöf
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Abstract

This paper studies the time-optimal path tracking problem for a team of cooperating robotic manipulators carrying an object. Considering the problem for rigidly grasped objects, we show that it can be cast as a convex optimization problem and solved efficiently with a guarantee of optimality. When formulating the problem, we avoid using a particular wrench distribution and exploit the full actuation available to the system. Then, we consider the problem for grasps using frictional forces and show that this problem also, under a force-closure grasp assumption, can be formulated as a convex optimization problem and solved efficiently and to optimality. To ensure a firm grasp, internal forces have been taken into account in this approach.

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Hamed Haghshenas, Anders Hansson, Mikael Norrlöf. 2023-03-13. Time-Optimal Path Tracking for Cooperative Manipulators: A Convex Optimization Approach. https://arxiv.org/abs/2303.07039

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