Year: 2025
Type: article
Abstract: In this work, we present a method for minimizing the time required for a redundant dual-arm robot to follow a desired relative Cartesian path at constant path speed by optimizing its joint trajectories, subject to position, velocity, and acceleration limits. The problem is reformulated as a bi-level optimization whose lower level is a convex, closed-form subproblem that maximizes path speed for a fixed trajectory, while the upper level updates the trajectory using a single-chain kinematic formulation and the subgradient of the lower-level value. Numerical results demonstrate the effectiveness of the proposed approach.
Source: IEEE Control Systems Letters
Authors: Jonathan Fried, Santiago Paternain
Institution: Rensselaer Polytechnic Institute
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W4411725372