PROJECT TITLE :

Time-Optimal Path Parameterization for Redundantly Actuated Robots: A Numerical Integration Approach

ABSTRACT:

Time-optimal path parameterization (TOPP) beneath actuation bounds plays a basic role in many robotic theories and applications. This algorithm was 1st developed and perfected for classical serial robotic manipulators whose actuation is nonredundant. Nevertheless, redundantly actuated systems, like parallel manipulators or humanoid robots in multicontact tasks, are increasingly common in all fields of robotics. Here, we have a tendency to extend the classical algorithm of TOPP (a.k.a. numerical integration approach) to the case of redundantly actuated systems. As illustration, we have a tendency to gift an application to multicontact trajectory designing for a humanoid robot.