Alexander Reiter, Andreas Müller, Hubert Gattringer,
"Rapid Nearly-Optimal Rendezvous Trajectory Planning Using Parameter Sensitivities"
, in Vigen H. Arakelian, Philippe Wenger: ROMANSY 22 ? Robot Design, Dynamics and Control, Serie CISM International Centre for Mechanical Sciences, Vol. 584, Springer International Publishing, Seite(n) 515-522, 2018, ISBN: 978-3-319-78962-0
Rapid Nearly-Optimal Rendezvous Trajectory Planning Using Parameter Sensitivities
Sprache des Titels:
ROMANSY 22 ? Robot Design, Dynamics and Control
Synchronization tasks of robotic manipulators with moving objects are not only required to be solved in real-time but also in an optimal fashion.
This paper considers optimal trajectory planning problems that are parameterized by the final state of the manipulator.
For a sudden change of the desired final state, the trajectory needs to be replanned in real-time.
Sensitivities of the optimal solution to a nominal problem w.r.t. the final state parameters are utilized to compute a nearly optimal real-time approximation of the solution to problem with perturbed parameters.
Admissibility of the solution, i.e. satisfaction of constraints, is ensured by an iterative method supporting a variable active set of constraints.
The efficacy of the proposed method is demonstrated in simulation and experiment.