Robust Optimal Trajectory Planning for Robots by Stochastic Optimization

DOI10.1076/MCMD.8.1.75.8343MaRDI QIDQ3147798zbMATH OpenOpenAlexFDO

Authors Kurt Marti, A. Aurnhammer

Publication date 20 March 2003

Published in Mathematical and Computer Modelling of Dynamical Systems (Search for Journal in Brave)

Full work available at URL http://hdl.handle.net/10.1076/mcmd.8.1.75.8343

zbMATH Keywords

adaptive optimal stochastic trajectory planningfeedforward controloptimal controlreal-time conditionsrobotsrobust adaptive controlrobust reference trajectoriessensitivity analysisstochastic optimization methodsstochastic programming

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Stochastic programming (90C15) Automated systems (robots, etc.) in control theory (93C85) Stochastic learning and adaptive control (93E35)

Review text

In the optimal control of industrial, field, and service robots, increasing measurement and control actions are needed during the process of determining a reference trajectory and a feedforward control, due to the stochastic variations of the model parameters. In order to maintain a high quality of the guiding functions, the reference trajectory and the feedforward control can be updated at some later points in time such that additional information about the control process is available. The main purpose of the present paper is to propose an adaptive optimal stochastic trajectory planning (AOSTP) procedure based on stochastic optimization methods, and to investigate several numerical techniques for the computation of robust reference trajectories and feedforward controls, under real-time conditions. Based on the tests with the Manutec r3 industrial robot, two numerical examples illustrate the AOSTP technique. The first example demonstrates real-time solutions of OSTP using a sensitivity analysis of a precalculated reference trajectory. The second example shows the differences between reference trajectories calculated by deterministic methods on the one hand and by the proposed stochastic methods on the other hand. The numerical simulations of the robot behaviour prove increased robustness of the considered stochastic reference trajectories.

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Cited in

(13)

• Globally optimal periodic robot joint trajectories
• Adaptive optimal stochastic trajectory planning
• Stochastic optimization methods in robust adaptive control of robots
• Feedback control of industrial robots by means of stochastic optimization techniques
• Real-time trajectory planning of the industrial robot IRB6400
• scientific article; zbMATH DE number 5296981 (Why is no real title available?)
• Reduction of the On‐line Measurement and Control Expenses by Adaptive Stochastic Path Planning
• Stochastic Programming Methods in Adaptive Optimal Trajectory Planning for Robots
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• Time-Optimal Path Tracking for Robots: A Convex Optimization Approach
• Real-time robust optimal trajectory planning of industrial robots
• Adaptive optimal stochastic trajectory planning and control (AOSTPC) for robots
• Robust Motion Planning for Uncertain Systems With Disturbances Using the Invariant-Set Motion Planner

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