Zielonogórska Biblioteka Cyfrowa udostępnia 67 371 obiektów cyfrowych
Obiekt
Tytuł: Trajectory optimization for highly articulated robots based on sparsity-free local direct collocation
Contributor:
Korbicz, Józef (1951- ) - red. ; Uciński, Dariusz - red.
Group publication title:
Abstract:
In this paper, we introduce a numerical optimal control scheme (NOCS) for generating dynamically feasible robot motions under several constraints while optimizing a give 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.
Publisher:
Zielona Góra: Uniwersytet Zielonogórski
Resource Identifier:
DOI:
Pages:
Source:
AMCS, volume 35, number 4 (2025) ; kliknij tutaj, żeby przejść
Language:
License CC BY 4.0:
Rights:
Biblioteka Uniwersytetu Zielonogórskiego
Kolekcje, do których przypisany jest obiekt:
- Zielonogórska Biblioteka Cyfrowa > Repozytorium > Jednostki organizacyjne > Wydział Informatyki, Elektrotechniki i Automatyki
- Zielonogórska Biblioteka Cyfrowa > Repozytorium > Typy utworów > Artykuły
- Zielonogórska Biblioteka Cyfrowa > Repozytorium > Czasopisma naukowe i serie wydawnicze UZ > International Journal of Applied Mathematics and Computer Science (AMCS) > International Journal of Applied Mathematics and Computer Science (AMCS) (2025)
Data ostatniej modyfikacji:
30 mar 2026
Data dodania obiektu:
30 mar 2026
Liczba wyświetleń treści obiektu:
47
Wszystkie dostępne wersje tego obiektu:
https://zbc.uz.zgora.pl/publication/105972
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 35, number 1 (2025)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 35, number 2 (2025)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 35, number 3 (2025)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 35, number 4 (2025)
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| Nazwa wydania | Data |
|---|---|
| Trajectory optimization for highly articulated robots based on sparsity-free local direct collocation | 30 mar 2026 |
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Martínez, Pablo A. Castelán, Mario Arechavaleta, Gustavo Korbicz, Józef (1951- ) - red. Uciński, Dariusz - red.
