Convex optimization approach for the path-following problem of two collaborative robots

Keyanpour, Mohammad; Kia-Lashgami, Maryam

doi:10.22124/jmm.2025.31212.2798

Convex optimization approach for the path-following problem of two collaborative robots

Articles in Press

Document Type : Research Article

Authors

¹ Department of Applied Mathematics, Faculty of Mathematical Sciences, University of Guilan, P.O. Box 1914, Rasht, Iran.

² Department of Applied Mathematics, Faculty of Mathematical Sciences, University of Guilan, Rasht, Iran.

10.22124/jmm.2025.31212.2798

Abstract

This paper investigates the time-optimal path-tracking problem for a collaborative robotic system, considering some limitations and dynamic characteristics. This problem is formulated for a robotic system consisting of two-link planar manipulators with and without bar cases along a predetermined geometric path in minimum time. The main challenges are to satisfy both the co-position and co-time conditions of the end-effector movement, as well as the physical limitations of the applied torque to the joints. Through discretization and convexification, we convert the problem into a convex cone optimization problem. The numerical example confirms the effectiveness of the method.

Keywords