Time-optimal control for a robotic contour following problem

A robotic contour following problem, defined by a unilaterally constrained manipulator, is presented. Our approach explicitly takes into account inequality constraints and resulting contact forces as part of the system dynamics. Possible impact at an entry time is also discussed. A phase plane technique is applied to the timeoptimal motion planning problem subject to conditions of impact avoidance. The contact force is incorporated into the optimal planning problem.