Learning Time-optimized Path Tracking with or without Sensory Feedback
Jonas C. Kiemel,Torsten Kröger,Jonas C. Kiemel,Torsten Kröger
In this paper, we present a learning-based approach that allows a robot to quickly follow a reference path defined in joint space without exceeding limits on the position, velocity, acceleration and jerk of each robot joint. Contrary to offline methods for time-optimal path parameterization, the reference path can be changed during motion execution. In addition, our approach can utilize sensory fe...
