- Violation of motion constraints
- Non linearities
- Determination of highly robust dynamic trajectories
- Successful pick-and-place
To avoid such situations, it is essential to robustly optimize dynamic trajectories allowing the system to deal with disturbance forces and uncertain payloads. The problem can be modeled using advanced mathematical programs involving many nonlinearities.
Thanks to its efficient interior-point method, Artelys Knitro allows researchers to determine highly robust dynamic trajectories. The benefits of robust optimization have been demonstrated using a quadruped robot equipped with a manipulator able to execute a pick-and-place of a bottle on a table, even on a skateboard.