Articles | Volume 6, issue 2
https://doi.org/10.5194/ms-6-163-2015
https://doi.org/10.5194/ms-6-163-2015
Research article
 | 
01 Sep 2015
Research article |  | 01 Sep 2015

B-spline parameterized optimal motion trajectories for robotic systems with guaranteed constraint satisfaction

W. Van Loock, G. Pipeleers, and J. Swevers

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Subject: Dynamics and Control | Techniques and Approaches: Optimization
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Cited articles

Andersson, J.: A General-Purpose Software Framework for Dynamic Optimization, PhD thesis, Arenberg Doctoral School, KU Leuven, Department of Electrical Engineering (ESAT/SCD) and Optimization in Engineering Center, Heverlee, Belgium, 2013.
de Boor, C.: A practical guide to splines, revised Edn.,Springer-Verlag, New York, 2001.
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Ferreau, H., Kirches, C., Potschka, A., Bock, H., and Diehl, M.: qpOASES: A parametric active-set algorithm for quadratic programming, Math. Program. Comput., 6, 327–363, 2014.
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Short summary
In this research the motion planning problem for systems that admit a polynomial description of the system dynamics through differential flatness is tackled by parameterizing the system's so-called flat output as a piecewise polynomial. Sufficient conditions on the spline coefficients are derived ensuring satisfaction of the operating constraints over the entire time horizon and an intuitive relaxation is proposed to tackle conservatism.