Alexander Reiter, Hubert Gattringer, Andreas Müller,
"Real-time Computation of Inexact Minimum-Energy Trajectories Using Parametric Sensitivities"
, in Carlo Ferraresi, Giuseppe Quaglia: Advances in Service and Industrial Robotics, Serie Mechanisms and Machine Science, Nummer 49, Springer International Publishing, Seite(n) 168-176, 2018, ISBN: 978-3-319-61275-1
Real-time Computation of Inexact Minimum-Energy Trajectories Using Parametric Sensitivities
Sprache des Titels:
Advances in Service and Industrial Robotics
The exact solution of practical trajectory optimization problems is usually not feasible in real time.
The use of approximate solutions deduced from a nominal optimal solution is a potential alternative.
This methodology requires evaluation of parametric sensitivities of the nominal solution in real time which is addressed in this paper.
Improvements to existing methods are introduced that not only increase their efficiency but also ensure the constraint satisfaction of the approximation.
The proposed methods are applied to a practical trajectory planning problem for a planar manipulator where the initial state is given but the final state is unknown prior to task execution.