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Kia-Lashgami, Maryam, Keyanpour, Mohammad. (1405). Convex optimization approach for the path-following problem of two collaborative robots. فیزیولوژی و بیوتکنولوژی آبزیان, 14(2), 471-487. doi: 10.22124/jmm.2025.31212.2798
Maryam Kia-Lashgami; Mohammad Keyanpour. "Convex optimization approach for the path-following problem of two collaborative robots". فیزیولوژی و بیوتکنولوژی آبزیان, 14, 2, 1405, 471-487. doi: 10.22124/jmm.2025.31212.2798
Kia-Lashgami, Maryam, Keyanpour, Mohammad. (1405). 'Convex optimization approach for the path-following problem of two collaborative robots', فیزیولوژی و بیوتکنولوژی آبزیان, 14(2), pp. 471-487. doi: 10.22124/jmm.2025.31212.2798
Kia-Lashgami, Maryam, Keyanpour, Mohammad. Convex optimization approach for the path-following problem of two collaborative robots. فیزیولوژی و بیوتکنولوژی آبزیان, 1405; 14(2): 471-487. doi: 10.22124/jmm.2025.31212.2798

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

Journal of Mathematical Modeling
دوره 14، شماره 2، مرداد 2026، صفحه 471-487    اصل مقاله (2.57 M)
نوع مقاله: Research Article
شناسه دیجیتال (DOI): 10.22124/jmm.2025.31212.2798
نویسندگان
Maryam Kia-Lashgami1؛ Mohammad Keyanpour* 2
1Department of Applied Mathematics, Faculty of Mathematical Sciences, University of Guilan, Rasht, Iran.
2Department of Applied Mathematics, Faculty of Mathematical Sciences, University of Guilan, P.O. Box 1914, Rasht, Iran.
چکیده
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.
کلیدواژه‌ها
Convex problem؛ Mathematical modeling؛ Collaborative robots؛ Optimization؛ Control
مراجع
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