Title:Rapid Nearly-Optimal Rendezvous Trajectory Planning Using Parameter SensitivitiesAuthor(s):Alexander Reiter, Andreas Müller, Hubert GattringerAbstract:Synchronization tasks of robotic manipulators with moving objects are not only required to be solved in real-time but also in an optimal fashion. This paper considers optimal trajectory planning problems that are parameterized by the final state of the manipulator. For a sudden change of the desired final state, the trajectory needs to be replanned in real-time. Sensitivities of the optimal solution to a nominal problem w.r.t. the final state parameters are utilized to compute a nearly optimal real-time approximation of the solution to problem with perturbed parameters. Admissibility of the solution, i.e. satisfaction of constraints, is ensured by an iterative method supporting a variable active set of constraints. The efficacy of the proposed method is demonstrated in simulation and experiment.Booktitle:ROMANSY 22 – Robot Design, Dynamics and ControlPublisher:Springer International PublishingEditor(s):Vigen H. Arakelian, Philippe WengerISBN:978-3-319-78962-0Page Reference:page 515-522, 8 page(s)Publishing:2018Series:CISM International Centre for Mechanical SciencesVolume:584