{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,4]],"date-time":"2026-05-04T20:36:27Z","timestamp":1777926987579,"version":"3.51.4"},"reference-count":10,"publisher":"SAGE Publications","issue":"10","license":[{"start":{"date-parts":[[2013,11,1]],"date-time":"2013-11-01T00:00:00Z","timestamp":1383264000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering"],"published-print":{"date-parts":[[2013,11]]},"abstract":"<jats:p>In time-optimal robot path following, a predetermined geometric trajectory is followed exactly in a time-optimal way considering system constraints, for example, actuator constraints. For a simplified robotic manipulator, this optimization problem can be reformulated into a convex optimization problem when only considering some system constraints. In this article, the convex approach is extended to account for Cartesian acceleration constraints and in turn account for inertial forces and torques acting on a load held by the robot. The focus of this article is on the reformulation of these Cartesian acceleration and inertial forces and torques to preserve the convexity of the optimization problem. We present a series of applications that result in solving a convex optimization problem, illustrating the practicality of the proposed reformulations.<\/jats:p>","DOI":"10.1177\/0959651813502644","type":"journal-article","created":{"date-parts":[[2013,11,8]],"date-time":"2013-11-08T05:47:58Z","timestamp":1383889678000},"page":"724-732","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":9,"title":["Convex time-optimal robot path following with Cartesian acceleration and inertial force and torque constraints"],"prefix":"10.1177","volume":"227","author":[{"given":"Frederik","family":"Debrouwere","sequence":"first","affiliation":[{"name":"Division PMA, Department of Mechanical Engineering, KU Leuven, Heverlee, Belgium"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wannes","family":"Van Loock","sequence":"additional","affiliation":[{"name":"Division PMA, Department of Mechanical Engineering, KU Leuven, Heverlee, Belgium"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Goele","family":"Pipeleers","sequence":"additional","affiliation":[{"name":"Division PMA, Department of Mechanical Engineering, KU Leuven, Heverlee, Belgium"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Moritz","family":"Diehl","sequence":"additional","affiliation":[{"name":"Division SCD, Department of Electrical Engineering, KU Leuven, Heverlee, Belgium"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jan","family":"Swevers","sequence":"additional","affiliation":[{"name":"Division PMA, Department of Mechanical Engineering, KU Leuven, Heverlee, Belgium"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Joris","family":"De Schutter","sequence":"additional","affiliation":[{"name":"Division PMA, Department of Mechanical Engineering, KU Leuven, Heverlee, Belgium"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2013,11,8]]},"reference":[{"key":"bibr1-0959651813502644","doi-asserted-by":"publisher","DOI":"10.1177\/027836498500400301"},{"key":"bibr2-0959651813502644","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1985.1104009"},{"key":"bibr3-0959651813502644","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2009.2028959"},{"key":"bibr4-0959651813502644","first-page":"469","volume-title":"Mechatronics forum","author":"Debrouwere F"},{"key":"bibr5-0959651813502644","volume-title":"Fragility assessment theory and test procedure","author":"Newton RE","year":"1968"},{"key":"bibr6-0959651813502644","volume-title":"Robot dynamics and control","author":"Spong MW","year":"1989"},{"key":"bibr7-0959651813502644","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(95)00069-B"},{"key":"bibr8-0959651813502644","volume-title":"Introduction to robotics: mechanics and control","author":"Craig JJ","year":"1989","edition":"2"},{"key":"bibr9-0959651813502644","first-page":"284","volume-title":"Proceedings of the CACSD conference","author":"L\u00f6fberg J"},{"key":"bibr10-0959651813502644","first-page":"1794","volume-title":"IEEE international conference on robotics and automation 2009 (ICRA\u201909)","author":"Pierrot F"}],"container-title":["Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0959651813502644","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/0959651813502644","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0959651813502644","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T22:31:23Z","timestamp":1777674683000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0959651813502644"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2013,11]]},"references-count":10,"journal-issue":{"issue":"10","published-print":{"date-parts":[[2013,11]]}},"alternative-id":["10.1177\/0959651813502644"],"URL":"https:\/\/doi.org\/10.1177\/0959651813502644","relation":{},"ISSN":["0959-6518","2041-3041"],"issn-type":[{"value":"0959-6518","type":"print"},{"value":"2041-3041","type":"electronic"}],"subject":[],"published":{"date-parts":[[2013,11]]}}}