Fast Adaptation of Manipulator Trajectories to Task Perturbation by Differentiating through the Optimal Solution

Joint space trajectory optimization under end-effector task constraints leads to a challenging non-convex problem. Thus, a real-time adaptation of prior computed trajectories to perturbation in task constraints often becomes intractable. Existing works use the so-called warm-starting of trajectory o...

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Bibliografiske detaljer
Main Authors: Shashank Srikanth, Mithun Babu, Houman Masnavi, Arun Kumar Singh, Karl Kruusamäe, Krishnan Madhava Krishna
Format: Artigo
Sprog:Inglês
Udgivet: MDPI AG 2022-04-01
Serier:Sensors
Fag:
manipulation
task perturbation
optimization
control
Online adgang:https://www.mdpi.com/1424-8220/22/8/2995
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