Abstract
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.
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Acknowledgements
This work has been supported by the Austrian COMET-K2 program of the Linz Center of Mechatronics (LCM), and was funded by the Austrian federal government and the federal state of Upper Austria.
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Reiter, A., Müller, A., Gattringer, H. (2019). Rapid Nearly-Optimal Rendezvous Trajectory Planning Using Parameter Sensitivities. In: Arakelian, V., Wenger, P. (eds) ROMANSY 22 – Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 584. Springer, Cham. https://doi.org/10.1007/978-3-319-78963-7_64
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DOI: https://doi.org/10.1007/978-3-319-78963-7_64
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