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

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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.

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Authors and Affiliations

  1. Lehrstuhl für Ingenieurmathematik, Fakultät für angewandte Naturwissenschaften, Universität Bayreuth, Bayreuth, Germany

    C. Boskens (Wissenschaftlicher Assistent)

  2. Institut für Numerische Mathematik, Westfälische Wilhelms Universität, Münster, Germany

    H. Maurer (Professor für Mathematik)

Authors
  1. C. Boskens
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  2. H. Maurer
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Boskens, C., Maurer, H. Nonlinear Programming Methods for Real-Time Control of an Industrial Robot. Journal of Optimization Theory and Applications 107, 505–527 (2000). https://doi.org/10.1023/A:1026491014283

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