Near Time Optimal Path Control of Kinematically Redundant Manipulators with Bounded Joint Velocities and Torques
here, a time optimal control scheme for trajectory planning of kinematically manipulators subjects to actuator torque limits is proposed by using the phase plane analysis and linear programming technique. In addition, the limit on joint velocities is considered. In order to affect the constraint of joint velocities, this constraint is converted to constraint on joint acceleration and it is affected linear programming problem as an additional constraint. Also, an explicit algorithm for finding the switching points is presented. To this end, some simulations are given to demonstrate the efficiency of proposed trajectory planning algorithm.
M. H. Ghasemi et al., "Near Time Optimal Path Control of Kinematically Redundant Manipulators with Bounded Joint Velocities and Torques", Applied Mechanics and Materials, Vols. 110-116, pp. 1547-1555, 2012