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Efficient Trajectory Optimization for a Free-Floating Robot

Rackwitz, Frederic (2021) Efficient Trajectory Optimization for a Free-Floating Robot. DLR-Interner Bericht. DLR-IB-RM-OP-2021-8. Master's. Technische Universität München. .

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Abstract

Trajectory planning for complex systems like free-floating robots requires much computation. In this thesis, two applications, namely a trajectory optimization algorithm and a method for generating maps of the singular configuration space of such a system, are improved in efficiency. The trajectory optimziation benefits from exploiting the locality property of nonuniform B-Splines, which are used to parametrize parts of the trajectory. This lead to improvements of up to 5.78 in our applications. It is also shown in this thesis, that the speed improvement directly depends on the problem at hand. Singularity maps are generated via taylor model arithmetics, which relies on an efficient implementation, which was lacking in previous work. The implementation resulting from this work is 30 to 70 times faster than the previous implementation, allowing more complex setups in the future.

Item URL in elib:https://elib.dlr.de/145796/
Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:Efficient Trajectory Optimization for a Free-Floating Robot
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Rackwitz, FredericFrederic.Rackwitz (at) dlr.deUNSPECIFIED
Date:2021
Refereed publication:No
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:Trajektory planning, space robots, free-floating robot
Institution:Technische Universität München
Department:Department of Informatics
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - RICADOS++ [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Lampariello, Roberto
Deposited On:22 Nov 2021 17:48
Last Modified:22 Nov 2021 17:48

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