高技术通讯Issue(10)：85-96,12.DOI:10.3772/j.issn.10020470.2014.10.009
基于凸规划的机械臂轨迹规划方法
A convex optimization approach for path tracking of robot manipulators
摘要
Abstract
The problem of fast solving a robot manipulator’s path tracking with time constraints was studied, and a novel path tracking approach based on convex optimization was presented. To overcome the difficulties in dealing with the strong nonlinear dynamic constraints and time constraints in path tracking, the presented approach converts the nonlinear constraints into linear constraints by replacement of variables, and then adds new constraints to convert the original non convex optimization problem into a convex optimization problem, furthermore, converts it into a second order cone program (SOCP), and uses the optimization tools such as the SeDuMi to conduct the real time solving. This approach has several advantages. Firstly, SOCP problems can be solved in polynomial time by the interior point methods. Secondly, the convex optimization is globally stable and the solution is globally optimal. Besides, there is no need to provide initial values for the optimization. Thirdly, this approach has great flexibility and can be applied to the more complicated circumstances where some other types of constraints and objective functions can be taken into account, such as acceleration constraints, minimum energy objective function and minimum jerk objective function. The simulations on a six degrees of freedom robot manipulator show the better efficiency and effectiveness of the proposed approach.关键词
轨迹规划/时间约束/凸规划/二阶锥规划(SOCP)Key words
path tracking/time constraints/convex optimization/second order cone programming引用本文复制引用
赵建军,魏毅,朱登明,夏时洪,王兆其..基于凸规划的机械臂轨迹规划方法[J].高技术通讯,2014,(10):85-96,12.基金项目
国家自然科学基金(61173067，61272322)，863计划(2007AA01Z320,2012AA011501)和十二五国家科技支撑课题(2013BAK03B07)资助项目。 （61173067，61272322）
