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

✍ Scribed by K. Marti; S. Qu

• Publisher: Springer Netherlands
• Year: 1996
• Tongue: English
• Weight: 196 KB
• Volume: 15
• Category: Article
• ISSN: 0921-0296
• DOI: 10.1007/bf00435723

✦ Synopsis

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.