On-line Time-Optimal Path Tracking for Robots

This page presents a fast on-line implementation of the path tracking method presented here. The on-line algorithm is explained in this paper and in this paper.

On-line time-optimal path tracking based on tablet data.

Experimental video: optec3-combined-mpeg4v2.avi (2.2 Mb. MSMPEG4v2)

The video shows the case of a robotic manipulator carrying out a writing task whereby the path data is generated on-line by human demonstration. The human demonstrator writes “Optec” (acronym for Optimization in Engineering Center) on the tablet, while the motion of the robot along the path is optimized on-line using a recursive log-barrier based solution method and executed almost simultaneously. The video illustrates the applicability and benefit of the on-line path tracking method.

The implementation of the test case is shown schematically below.

Fig. 1: Implementation of the test case