Recursive log-barrier method for on-line time-optimal robot path tracking

This paper focuses on time-optimal robot path tracking and develops an approximate, log-barrier batch solution method to rapidly solve discretized, convexly reformuled path tracking problems. Based on this batch solution method, which results in smooth actuator torques, a recursive variant is derived for on-line path tracking. The results and trade-offs in calculation time, delay and path duration are compared for the batch and recursive variant of the log-barrier method as well as for an exact solution method, by means of an experimental test case of a robot carrying out a writing task, in which the path data is generated on-line by human demonstration.