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

In: Online Optimization of Large Scale Systems

Author

Listed:
  • Christof Büskens

    (Universität Bayreuth, Lehrstuhl für Ingenieurmathematik)

  • Helmut Maurer

    (Universität Münster, Institut für numerische Mathematik)

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.

Suggested Citation

  • Christof Büskens & Helmut Maurer, 2001. "Real-Time Control of an Industrial Robot under Control and State Constraints," Springer Books, in: Martin Grötschel & Sven O. Krumke & Jörg Rambau (ed.), Online Optimization of Large Scale Systems, pages 83-92, Springer.
    • Handle: RePEc:spr:sprchp:978-3-662-04331-8_5
    DOI: 10.1007/978-3-662-04331-8_5
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