Optimal Trajectory Planning for Robots under the Consideration of Stochastic Parameters and Disturbances

摘要: Efficient control strategies of robots should cause only low on-line correction expenses. Hence, the mostly available statistical and a priori informations about random parameters disturbances underlying mechanical system its environment be considered already for off-line programming robots. Measuring violations basic conditions by means expected penalty costs, stochastic optimization problem is obtained computation an optimal open-loop control. The can solved — after discretization parameter optimization.