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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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
- Trajectory planning
- open-loop strategy