Digital Library of Zielona Góra contains 9 387 digital objects
Object
Title: 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) ; click here to follow the link
Language:
License CC BY 4.0:
Rights:
Biblioteka Uniwersytetu Zielonogórskiego
Object collections:
- Repository > Faculties > Faculty of Computer, Electrical and Control Engineering
- Repository > Types of work > Articles
- Repository > Scientific journals and UZ publishing series > International Journal of Applied Mathematics and Computer Science (AMCS) > International Journal of Applied Mathematics and Computer Science (AMCS) (2025)
Last modified:
Mar 30, 2026
In our library since:
Mar 30, 2026
Number of object content hits:
0
All available object's versions:
https://zbc.uz.zgora.pl/repozytorium/publication/105972
Show description in RDF format:
Show description in OAI-PMH format:
-
-
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 35, number 1 (2025)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 35, number 2 (2025)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 35, number 3 (2025)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 35, number 4 (2025)
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
| Edition name | Date |
|---|---|
| Trajectory optimization for highly articulated robots based on sparsity-free local direct collocation | Mar 30, 2026 |
Objects Similar
Villanueva-Pinon, Carla Arechavaleta, Gustavo Campagner, Andrea - ed. Lenz, Oliver Urs - ed. Xia, Shuyin - ed.
Acuna, Carlos Arechavaleta, Gustavo Castelán, Mario Campagner, Andrea - ed. Lenz, Oliver Urs - ed. Xia, Shuyin - ed.
Martínez, Pablo A. Castelán, Mario Arechavaleta, Gustavo Korbicz, Józef (1951- ) - red. Uciński, Dariusz - red.
