Robust model-based trajectory planning for nonlinear systems

DOI10.1177/1077546314566834MaRDI QIDQ4592817zbMATH OpenOpenAlexFDO

Authors Paolo Boscariol, Alessandro Gasparetto

Publication date 9 November 2017

Published in Journal of Vibration and Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1177/1077546314566834

zbMATH Keywords

roboticsrobustnesstrajectory planning

Mathematics Subject Classification ID

Numerical methods based on necessary conditions (49M05) Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60) Nonlinear systems in control theory (93C10)

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(7)

• Fast and smooth trajectory planning for a class of linear systems based on parameter and constraint reduction
• Nonlinearity-aware sub-model combination in trajectory based methods for nonlinear MOR
• Adaptive planning and tracking of trajectories for the simulation of maneuvers with multibody models
• NTGsim: a graphical user interface and a 3D simulator for nonlinear trajectory generation methodology
• High precision control in PTP trajectory planning for nonlinear systems using on high‐degree polynomial and cuckoo search
• Modelling flexible multi-link robots for vibration control: numerical simulations and real-time experiments
• Robust transient oscillation reduction for rest-to-rest motion of underactuated multibody systems

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