Constrained Iterative Nonlinear Optimization for Robot Control Applications

Activity: SupervisionCompleted SURF Project


Numerical optimization provides a computational tool widely used to control robotic systems subject to constraints during their motion. However, many of the methods used to solve these problems lack treatment of physical constraints i.e., limitations on the control inputs and constraints on the temporal aspect of the motion. In this project, we present a computational method to nonlinear dynamic optimization which enables us to take inequality constraints on the control commands and the simultaneously optimized task duration rigorously into account.
PeriodJul 2022Aug 2022