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Optimal trajectory planning for robots under the consideration of stochastic parameters and disturbances

Computation of an efficient open-loop strategy

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Abstract

Efficient control strategies of robots should cause only low on-line correction expenses. Hence, the mostly available statistical and a priori informations about the random parameters and disturbances of the underlying mechanical system and its environment should be considered already for off-line programming of robots. Measuring the violations of the basic mechanical conditions by means of expected penalty costs, a stochastic optimization problem is obtained for the computation of an optimal open-loop control. The stochastic optimization problem can be solved — after discretization — by parameter optimization.

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References

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    Marti, K. and Qu, S.: Optimal Trajectory Planning for Robot Considering Stochastic Parameters and Disturbances, Workshop on Stochastic Optimization, Federal Armed Forces University Munich, June 1993.

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    Singh, S. K. and Leu, M. C.: Manipulator motion planning in the presence of obstacles and dynamic constraints, Int. J. Robot. Res. 2 (10) (1991), 171–187.

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Marti, K., Qu, S. Optimal trajectory planning for robots under the consideration of stochastic parameters and disturbances. J Intell Robot Syst 15, 19–23 (1996). https://doi.org/10.1007/BF00435723

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Key words

  • Trajectory planning
  • open-loop strategy