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TRAJECTORY OPTIMIZATION FOR HIGHLY ARTICULATED ROBOTS BASED ON SPARSITY--FREE LOCAL DIRECT COLLOCATION.

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Τίτλος: TRAJECTORY OPTIMIZATION FOR HIGHLY ARTICULATED ROBOTS BASED ON SPARSITY--FREE LOCAL DIRECT COLLOCATION.
Συγγραφείς: CARDONA-ORTIZ, DANIEL, ARECHAVALETA, GUSTAVO
Πηγή: International Journal of Applied Mathematics & Computer Science; 2025, Vol. 35 Issue 4, p577-589, 13p
Θεματικοί όροι: Trajectory optimization, Optimal control theory, Computer performance, Mathematical optimization, Nonlinear programming, Industrial robots, Robot motion
Περίληψη: In this paper, we introduce a numerical optimal control scheme (NOCS) for generating dynamically feasible robot motions under several constraints while optimizing a given performance criterion. In particular, the NOCS transforms continuous optimal control problems into large-scale sparsity-free nonlinear programs (NLPs) by means of a dedicated strategy called the block indexation procedure (BIP). As a result, the optimized open-loop control law is obtained fast under limited-memory allocation. The robot's equations of motion, and their partial derivatives with respect to the state of the robot and control inputs, are analytically evaluated. For this, state-of-the-art algorithms available in the Pinocchio and RBDL open-source libraries are used. Otherwise, the NOCS applies the BIP with numerical differentiation techniques. The effectiveness of the NOCS is numerically validated with different robots composed by many degrees of freedom. Also, we provide performance comparisons against CasADi, a popular general purpose optimal control framework that applies automatic differentiation. [ABSTRACT FROM AUTHOR]
Copyright of International Journal of Applied Mathematics & Computer Science is the property of Paradigm Publishing Services and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
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DbLabel: Complementary Index
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PubType: Academic Journal
PubTypeId: academicJournal
PreciseRelevancyScore: 1023.09039306641
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  Data: TRAJECTORY OPTIMIZATION FOR HIGHLY ARTICULATED ROBOTS BASED ON SPARSITY--FREE LOCAL DIRECT COLLOCATION.
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  Data: International Journal of Applied Mathematics & Computer Science; 2025, Vol. 35 Issue 4, p577-589, 13p
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  Data: <searchLink fieldCode="DE" term="%22Trajectory+optimization%22">Trajectory optimization</searchLink><br /><searchLink fieldCode="DE" term="%22Optimal+control+theory%22">Optimal control theory</searchLink><br /><searchLink fieldCode="DE" term="%22Computer+performance%22">Computer performance</searchLink><br /><searchLink fieldCode="DE" term="%22Mathematical+optimization%22">Mathematical optimization</searchLink><br /><searchLink fieldCode="DE" term="%22Nonlinear+programming%22">Nonlinear programming</searchLink><br /><searchLink fieldCode="DE" term="%22Industrial+robots%22">Industrial robots</searchLink><br /><searchLink fieldCode="DE" term="%22Robot+motion%22">Robot motion</searchLink>
– Name: Abstract
  Label: Abstract
  Group: Ab
  Data: In this paper, we introduce a numerical optimal control scheme (NOCS) for generating dynamically feasible robot motions under several constraints while optimizing a given performance criterion. In particular, the NOCS transforms continuous optimal control problems into large-scale sparsity-free nonlinear programs (NLPs) by means of a dedicated strategy called the block indexation procedure (BIP). As a result, the optimized open-loop control law is obtained fast under limited-memory allocation. The robot's equations of motion, and their partial derivatives with respect to the state of the robot and control inputs, are analytically evaluated. For this, state-of-the-art algorithms available in the Pinocchio and RBDL open-source libraries are used. Otherwise, the NOCS applies the BIP with numerical differentiation techniques. The effectiveness of the NOCS is numerically validated with different robots composed by many degrees of freedom. Also, we provide performance comparisons against CasADi, a popular general purpose optimal control framework that applies automatic differentiation. [ABSTRACT FROM AUTHOR]
– Name: Abstract
  Label:
  Group: Ab
  Data: <i>Copyright of International Journal of Applied Mathematics & Computer Science is the property of Paradigm Publishing Services and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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RecordInfo BibRecord:
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      – Type: doi
        Value: 10.61822/amcs-2025-0041
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      – Code: eng
        Text: English
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      Pagination:
        PageCount: 13
        StartPage: 577
    Subjects:
      – SubjectFull: Trajectory optimization
        Type: general
      – SubjectFull: Optimal control theory
        Type: general
      – SubjectFull: Computer performance
        Type: general
      – SubjectFull: Mathematical optimization
        Type: general
      – SubjectFull: Nonlinear programming
        Type: general
      – SubjectFull: Industrial robots
        Type: general
      – SubjectFull: Robot motion
        Type: general
    Titles:
      – TitleFull: TRAJECTORY OPTIMIZATION FOR HIGHLY ARTICULATED ROBOTS BASED ON SPARSITY--FREE LOCAL DIRECT COLLOCATION.
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            – D: 01
              M: 10
              Text: 2025
              Type: published
              Y: 2025
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            – TitleFull: International Journal of Applied Mathematics & Computer Science
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