A Task Space Approach for Planar Optimal Robot Tube Following

Matthias Oberherber, Hubert Gattringer, Andreas Müller, Michael Schachinger


The classical optimal path following problem considers the problem of moving optimally along a predefined geometric path under technological restrictions. In contrast to optimal path following, optimal tube following allows deviations from the initial path within a predefined tube to reduce cost even more. The present paper proposes a modern approach that treats this non-convex problem in task space. This novel method also provides a simple way to derive optimal trajectories within a tube described in terms of polygonal lines. Numerical examples are presented that allow to compare the proposed method to existing joint space approaches.


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Paper Citation

in Harvard Style

Oberherber M., Gattringer H., Müller A. and Schachinger M. (2016). A Task Space Approach for Planar Optimal Robot Tube Following . In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-198-4, pages 327-334. DOI: 10.5220/0005980303270334

in Bibtex Style

author={Matthias Oberherber and Hubert Gattringer and Andreas Müller and Michael Schachinger},
title={A Task Space Approach for Planar Optimal Robot Tube Following},
booktitle={Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},

in EndNote Style

JO - Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - A Task Space Approach for Planar Optimal Robot Tube Following
SN - 978-989-758-198-4
AU - Oberherber M.
AU - Gattringer H.
AU - Müller A.
AU - Schachinger M.
PY - 2016
SP - 327
EP - 334
DO - 10.5220/0005980303270334