A Task Space Approach for Planar Optimal Robot Tube Following

Matthias Oberherber, Hubert Gattringer, Andreas Müller, Michael Schachinger

2016

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.

Paper Citation

in Harvard Style

Oberherber M., Gattringer H., Müller A. and Schachinger M. (2016). A Task Space Approach for Planar Optimal Robot Tube Following . In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-198-4, pages 327-334. DOI: 10.5220/0005980303270334

in Bibtex Style

@conference{icinco16,
author={Matthias Oberherber and Hubert Gattringer and Andreas Müller and Michael Schachinger},
title={A Task Space Approach for Planar Optimal Robot Tube Following},
booktitle={Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2016},
pages={327-334},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005980303270334},
isbn={978-989-758-198-4},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - A Task Space Approach for Planar Optimal Robot Tube Following
SN - 978-989-758-198-4
AU - Oberherber M.
AU - Gattringer H.
AU - Müller A.
AU - Schachinger M.
PY - 2016
SP - 327
EP - 334
DO - 10.5220/0005980303270334