Rapid Nearly-Optimal Rendezvous Trajectory Planning Using Parameter Sensitivities

Alexander Reiter; Andreas Müller; Hubert Gattringer

doi:10.1007/978-3-319-78963-7_64

Rapid Nearly-Optimal Rendezvous Trajectory Planning Using Parameter Sensitivities

Alexander Reiter
, Andreas Müller
, Hubert Gattringer

Institute of Robotics

Research output: Chapter in Book/Report/Conference proceeding › Chapter › peer-review

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.

Original language	English
Title of host publication	ROMANSY 22 – Robot Design, Dynamics and Control
Editors	Vigen H. Arakelian, Philippe Wenger
Publisher	Springer International Publishing
Pages	515-522
Number of pages	8
Volume	584
ISBN (Print)	978-3-319-78962-0
DOIs	https://doi.org/10.1007/978-3-319-78963-7_64
Publication status	Published - 2018

Publication series

Name	CISM International Centre for Mechanical Sciences

Fields of science

203015 Mechatronics
203022 Technical mechanics
202 Electrical Engineering, Electronics, Information Engineering
202035 Robotics
203013 Mechanical engineering

JKU Focus areas

Mechatronics and Information Processing

Access to Document

10.1007/978-3-319-78963-7_64

Cite this

Reiter, A., Müller, A., & Gattringer, H. (2018). Rapid Nearly-Optimal Rendezvous Trajectory Planning Using Parameter Sensitivities. In Vigen H. Arakelian, Philippe Wenger (Ed.), ROMANSY 22 – Robot Design, Dynamics and Control (Vol. 584, pp. 515-522). (CISM International Centre for Mechanical Sciences). Springer International Publishing. https://doi.org/10.1007/978-3-319-78963-7_64

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title = "Rapid Nearly-Optimal Rendezvous Trajectory Planning Using Parameter Sensitivities",

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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language = "English",

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booktitle = "ROMANSY 22 – Robot Design, Dynamics and Control",

}

Reiter, A, Müller, A & Gattringer, H 2018, Rapid Nearly-Optimal Rendezvous Trajectory Planning Using Parameter Sensitivities. in Vigen H. Arakelian, Philippe Wenger (ed.), ROMANSY 22 – Robot Design, Dynamics and Control. vol. 584, CISM International Centre for Mechanical Sciences, Springer International Publishing, pp. 515-522. https://doi.org/10.1007/978-3-319-78963-7_64

Rapid Nearly-Optimal Rendezvous Trajectory Planning Using Parameter Sensitivities. / Reiter, Alexander; Müller, Andreas ; Gattringer, Hubert.
ROMANSY 22 – Robot Design, Dynamics and Control. ed. / Vigen H. Arakelian, Philippe Wenger. Vol. 584 Springer International Publishing, 2018. p. 515-522 (CISM International Centre for Mechanical Sciences).

Research output: Chapter in Book/Report/Conference proceeding › Chapter › peer-review

TY - CHAP

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AU - Müller, Andreas

AU - Gattringer, Hubert

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N2 - 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.

AB - 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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T3 - CISM International Centre for Mechanical Sciences

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BT - ROMANSY 22 – Robot Design, Dynamics and Control

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ER -

Rapid Nearly-Optimal Rendezvous Trajectory Planning Using Parameter Sensitivities

Abstract

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JKU Focus areas

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