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2 years ago in Robotics By Abhay R

Is there a contradiction between minimizing joint torque and minimizing cycle time in trajectory planning?

Do the objectives of torque minimization and cycle time minimization conflict in robotic trajectory optimization?

MinimizingCycleTime MinimizingJointTorque

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By Veena Answered 1 year ago

Yes, there is often a trade-off. Minimizing torque (or energy) typically requires smoother, slower motions to avoid high accelerations. Minimizing time demands rapid, often aggressive movements that inherently require higher torques. This is a classic multi-objective optimization problem. The optimal solution is usually a Pareto-optimal trajectory that balances both objectives based on assigned weights. References clarifying this include "Trajectory Planning for Automatic Machines and Robots" (Gasparetto & Zanotto) and key papers by J.E. Bobrow on time-optimal control. The contradiction is most pronounced in underactuated systems where control authority is limited.

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Is there a contradiction between minimizing joint torque and minimizing cycle time in trajectory planning?

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