Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections
Henrique Ferrolho,Wolfgang Merkt,Vladimir Ivan,Wouter Wolfslag,Sethu Vijayakumar,Henrique Ferrolho,Wolfgang Merkt,Vladimir Ivan,Wouter Wolfslag,Sethu Vijayakumar
This paper focuses on robustness to disturbance forces and uncertain payloads. We present a novel formulation to optimize the robustness of dynamic trajectories. A straightforward transcription of this formulation into a nonlinear programming problem is not tractable for state-of-the-art solvers, but it is possible to overcome this complication by exploiting the structure induced by the kinematics...
