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

Document Type : Research Article

Authors

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

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

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.

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References

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Journal of Mathematical Modeling
Volume 14, Issue 2
May 2026
Pages 471-487

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