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The International Journal of Robotics Research
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Real-Time Collision- Free Trajectory Optimization of Robot Manipulators via Semi-Infinite Parameter Optimization

M. Schlemmer

DLR Oberpfaffenhofen Institute for Robotics and System Dynamics Wessling 82234, Germany

G. Gruebel

DLR Oberpfaffenhofen Institute for Robotics and System Dynamics Wessling 82234, Germany

Real-time collision-free trajectory control is dealt with by semi- infinite optimization techniques. This allows an optimal control problem incorporating a robotlobstacle distance function for col lision detection to be reduced to a finite-dimensional parameter- optimization problem. This reduced problem can be solved effi ciently by the numerical parameter-optimization method of sequen tial quadratic programming. In the case of a time-varying robot environment, a series of such optimization problems is solved in an iterative time frame, constituting a real-time optimization loop.

The International Journal of Robotics Research, Vol. 17, No. 9, 1013-1021 (1998)
DOI: 10.1177/027836499801700908
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