Rapid Nearly-Optimal Rendezvous Trajectory Planning Using Parameter Sensitivities

Description

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.

Period	26 Jun 2018
Event title	ROMANSY 2018 - 22nd CISM IFToMM Symposium on Robot Design, Dynamics and Control
Event type	Conference
Location	FranceShow on map