Nonlinear programming methods for real-time control of an industrial robot

DOI10.1023/A:1026491014283MaRDI QIDQ1841568zbMATH OpenOpenAlexFDO

Authors Helmut Maurer, Christof Büskens

Publication date 18 February 2001

Published in Journal of Optimization Theory and Applications (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1023/a:1026491014283

zbMATH Keywords

sensitivity analysisrobot controlopen-loop controlreal-time controlcontrol and state constraintsnonlinear programming methodsparametric nonlinear control problems

Mathematics Subject Classification ID

Applications of mathematical programming (90C90) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

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• Real-time computation of feedback controls for constrained optimal control problems. part 2: A correction method based on multiple shooting
• Second-order sufficient conditions for control problems with mixed control-state constraints
• Sensitivity analysis for parametric control problems with control-state constraints
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• Solution Differentiability for Nonlinear Parametric Control Problems
• Solution differentiability for parametric nonlinear control problems with control-state constraints
• Stability and sensitivity of solutions to nonlinear optimal control problems

Cited in

(8)

• Performance of parallel shooting method for closed loop guidance of an optimal launch vehicle trajectory
• Real-time trajectory planning of the industrial robot IRB6400
• Research on efficient and accurate computing strategies for complex optimal control problems
• Control parameterization approach to time-delay optimal control problems: a survey
• Visual MISER: an efficient user-friendly visual program for solving optimal control problems
• Nonlinear Robust Industrial Robot Control
• Parametric sensitivity analysis of perturbed PDE optimal control problems with state and control constraints
• Higher order real-time approximations in optimal control of multibody-systems for industrial robots

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