Real-Time Control of an Industrial Robot under Control and State Constraints

Christof Büskens and Helmut Maurer
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Christof Büskens: Universität Bayreuth, Lehrstuhl für Ingenieurmathematik
Helmut Maurer: Universität Münster, Institut für numerische Mathematik

A chapter in Online Optimization of Large Scale Systems, 2001, pp 83-92 from Springer

Abstract: Abstract The dynamical model in Otter and Turk [10] for the robot Manutec r3 leads to a highly nonlinear optimal control problem with various control and state constraints. The nonlinear programming (NLP) techniques in [1,2,4] are applied to compute the optimal nominal solution for a fixed set of parameters in the system. We consider perturbations in the model which frequently occur in practice: deviations from the precomputed nominal trajectory or perturbations in the mass load. Since the re-optimization of the system for the perturbed set of parameters largely exceeds the running time of the robot, we apply the real-time control techniques developed in [2,4,5]. These methods require the computation of the parameter sensitivity derivatives and implement the first order Taylor expansion of the perturbed optimal solution with respect to the parameters. Real-time computations for the Manutec r3 robot are presented which demonstrate the quality of the real-time approximations.

Keywords: Optimal Control Problem; State Constraint; Sensitivity Differential; Industrial Robot; Maximal Relative Error (search for similar items in EconPapers)
Date: 2001
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Persistent link: https://EconPapers.repec.org/RePEc:spr:sprchp:978-3-662-04331-8_5

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DOI: 10.1007/978-3-662-04331-8_5

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