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Nonlinear Programming Methods for Real-Time Control of an Industrial Robot

Abstract

The optimal control of an industrial robot is considered as a parametricnonlinear control problem subject to control and state constraints. Based onrecent stability results for parametric control problems, a robust nonlinearprogramming method is proposed to compute the sensitivity of open-loopcontrol solutions. Real-time control approximations of the perturbedoptimal solutions are obtained by evaluating first-order Taylor expansionsof the optimal solutions with respect to the parameter. The proposednumerical methods are applied to the industrial robot Manutec r3. Thequality of the real-time approximations is illustrated for perturbations inthe transport load.

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Boskens, C., Maurer, H. Nonlinear Programming Methods for Real-Time Control of an Industrial Robot. Journal of Optimization Theory and Applications 107, 505–527 (2000). https://doi.org/10.1023/A:1026491014283

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  • DOI: https://doi.org/10.1023/A:1026491014283

  • parametric nonlinear control problems
  • control and state constraints
  • sensitivity analysis
  • open-loop control
  • real-time control
  • nonlinear programming methods
  • robot control