状態・制御制約下でのフラットネスに基づく多リンクマニピュレータ動作計画の実行可能初期解探索
Finding a Feasible Initial Solution for Flatness-Based Multi-Link Manipulator Motion Planning under State and Control Constraints
状態・制御制約下の多リンクマニピュレータ動作計画において、線形計画と軌道スケーリングで実行可能な初期解を構成し、非凸最適化を確実に解く手法を提案した。
著者: Keisuke Uto, Makoto Obayashi, Gaku Takano
分類: eess.SY, cs.RO, cs.SY, math.OC
原文アブストラクト
In this paper, we present a method to initialize at a feasible point and unfailingly solve a non-convex optimization problem in which a set-point motion is planned for a multi-link manipulator under state and control constraints. We construct an initial feasible solution by analyzing the final time effect for feasibility problems of flatness based motion planning problems. More specifically, we first find a feasible time-optimal trajectory under state constraints without a control constraint by solving a linear programming problem. Then, we find a feasible trajectory under control constraints by scaling the trajectory. To evaluate the practical applicability of the proposed method, we did numerical experiments to solve a multi-link manipulator motion planning problem by combining the method with recursive inverse dynamics algorithms.
