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

Author

Listed:
  • C. Boskens

    (Universität Bayreuth)

  • H. Maurer

    (Westfälische Wilhelms Universität)

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.

Suggested Citation

  • C. Boskens & H. Maurer, 2000. "Nonlinear Programming Methods for Real-Time Control of an Industrial Robot," Journal of Optimization Theory and Applications, Springer, vol. 107(3), pages 505-527, December.
    • Handle: RePEc:spr:joptap:v:107:y:2000:i:3:d:10.1023_a:1026491014283
    DOI: 10.1023/A:1026491014283
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    Cited by:

    1. C. Büskens & R. Griesse, 2006. "Parametric Sensitivity Analysis of Perturbed PDE Optimal Control Problems with State and Control Constraints," Journal of Optimization Theory and Applications, Springer, vol. 131(1), pages 17-35, October.

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