A Bi-Level Optimization Method for Redundant Dual-Arm Minimum Time Problems
Fuente:
arXiv
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| Autori principali: | , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| _version_ | 1866918045529669632 |
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| author | Fried, Jonathan Paternain, Santiago |
| author_facet | Fried, Jonathan Paternain, Santiago |
| contents | In this work, we present a method for minimizing the time required for a redundant dual-arm robot to follow a desired relative Cartesian path at constant path speed by optimizing its joint trajectories, subject to position, velocity, and acceleration limits. The problem is reformulated as a bi-level optimization whose lower level is a convex, closed-form subproblem that maximizes path speed for a fixed trajectory, while the upper level updates the trajectory using a single-chain kinematic formulation and the subgradient of the lower-level value. Numerical results demonstrate the effectiveness of the proposed approach. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2506_03982 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | A Bi-Level Optimization Method for Redundant Dual-Arm Minimum Time Problems Fried, Jonathan Paternain, Santiago Robotics Optimization and Control In this work, we present a method for minimizing the time required for a redundant dual-arm robot to follow a desired relative Cartesian path at constant path speed by optimizing its joint trajectories, subject to position, velocity, and acceleration limits. The problem is reformulated as a bi-level optimization whose lower level is a convex, closed-form subproblem that maximizes path speed for a fixed trajectory, while the upper level updates the trajectory using a single-chain kinematic formulation and the subgradient of the lower-level value. Numerical results demonstrate the effectiveness of the proposed approach. |
| title | A Bi-Level Optimization Method for Redundant Dual-Arm Minimum Time Problems |
| topic | Robotics Optimization and Control |
| url | https://arxiv.org/abs/2506.03982 |