ISSN:
1573-2878
Keywords:
parametric nonlinear control problems
;
control and state constraints
;
sensitivity analysis
;
open-loop control
;
real-time control
;
nonlinear programming methods
;
robot control
Source:
Springer Online Journal Archives 1860-2000
Topics:
Mathematics
Notes:
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.
Type of Medium:
Electronic Resource
URL:
http://dx.doi.org/10.1023/A:1026491014283
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