Improving the efficiency of time-optimal path-following algorithms.

J. J.E. Slotine, H. S. Yang

Research output: Contribution to journalConference articlepeer-review

6 Citations (Scopus)


A method is presented that improves the computational efficiency of time-optimal path-following planning algorithms for robot manipulators with limited actuator torques. The approach exploits the fact that the characteristic switching points of earlier techniques can be found directly in a straightforward fashion. Numerical examples show the consistency of the algorithm with the existing techniques and demonstrate its potential for increasing computational efficiency by several orders of magnitude.

Original languageEnglish
Pages (from-to)2129-2134
Number of pages6
JournalProceedings of the American Control Conference
Volume88 pt 1-3
Publication statusPublished - 1988

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering


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