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• W2811500181 abstract "Synchronization tasks of robotic manipulators with moving objects are not only required to be solved in real-time but also in an optimal fashion. This paper considers optimal trajectory planning problems that are parameterized by the final state of the manipulator. For a sudden change of the desired final state, the trajectory needs to be replanned in real-time. Sensitivities of the optimal solution to a nominal problem w.r.t. the final state parameters are utilized to compute a nearly optimal real-time approximation of the solution to problem with perturbed parameters. Admissibility of the solution, i.e. satisfaction of constraints, is ensured by an iterative method supporting a variable active set of constraints. The efficacy of the proposed method is demonstrated in simulation and experiment." @default.
• W2811500181 created "2018-07-10" @default.
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• W2811500181 date "2018-05-20" @default.
• W2811500181 modified "2023-09-27" @default.
• W2811500181 title "Rapid Nearly-Optimal Rendezvous Trajectory Planning Using Parameter Sensitivities" @default.
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• W2811500181 doi "https://doi.org/10.1007/978-3-319-78963-7_64" @default.
• W2811500181 hasPublicationYear "2018" @default.
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