| This paper deals with minimum time trajectory optimization along
a specified path subject to thermal constraints. We point out here
that robots are often integrated into complex robotic cells, and the
interactions between the robot and its environment are often difficult
or even impossible to model. The structure of the optimization problem
allows us to decompose the optimization into two levels, the first
being based on models and results of the theory of the calculus of
variations, the second being based on measurements and derivative
free algorithms. This decomposition allows us to optimize the velocity
profiles efficiently without any advance knowledge of the interactions
between the robot and its environment. We propose here two numerical
algorithms for these two levels of the decomposition which show
good convergence properties. The resulting optimal velocity profiles
are 5–10% faster than classical profiles, and have been executed successfully
on a real Stäubli Rx90 manipulator robot. |
