{'fraction_non_alphanumeric': 0.014900662251655629, 'fraction_numerical': 0.0, 'mean_word_length': 6.117647058823529, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
Improving the Efficiency of Time-Optimal Path-Following Algorithms

This paper presents a new method which significantly improves the computational efficiency of time-optimal path-following planning algorithms for robot manipulators with limited actuator torques. The approach exploits the fact that the characteristic switching points of earlier techniques can be found directly in a straightforward fashion. Numerical examples, while showing the consistency of the algorithm with the existing techniques, demonstrate its potential for increasing computational efficiency by several orders of magnitude.