Time-Optimal Path Parameterization with Viscous Friction and Jerk Constraints based on Reachability Analysis

Maximilian Dio; Arne Wahrburg; Nima Enayati; Knut Graichen; Andreas Völz

IROS 20250 citations

Time-Optimal Path Parameterization with Viscous Friction and Jerk Constraints based on Reachability Analysis

Maximilian Dio, Arne Wahrburg, Nima Enayati, Knut Graichen, Andreas Völz

Abstract

This paper presents a novel approach for time-optimal path parameterization based on reachability analysis for robotic systems with viscous friction in the dynamics and jerk constraints. The main step of the method is the backward propagation of controllable sets through a linear second-order system. In order to avoid the unbounded growth of the number of constraints, the sets are approximated by a ray shooting algorithm. Using a convex relaxation, the required set expansion can be solved with second-order cone programming. Evaluation results for a 6-degree of freedom (DOF) robot arm highlight the advantages of the method for computing jerk-limited trajectories.

BibTeX

@inproceedings{iros2025_timeoptimalpathp,
  title = {Time-Optimal Path Parameterization with Viscous Friction and Jerk Constraints based on Reachability Analysis},
  author = {Maximilian Dio and Arne Wahrburg and Nima Enayati and Knut Graichen and Andreas Völz},
  booktitle = {IROS 2025},
  year = {2025}
}