二乗和計画法によるロボットアームの安全許容範囲の証明可能な推定
Provably Safe Tolerance Estimation for Robot Arms via Sum-of-Squares Programming
二乗和計画法を用いて、ロボットアームが安全制約を満たす関節許容範囲を効率的に推定するアルゴリズムを提案し、理論的な下限保証と計算効率を示した。
著者: Weiye Zhao, Suqin He, Changliu Liu
分類: cs.RO, cs.LG
原文アブストラクト
Tolerance estimation problems are prevailing in engineering applications. For example, in modern robotics, it remains challenging to efficiently estimate joint tolerance, \ie the maximal allowable deviation from a reference robot state such that safety constraints are still satisfied. This paper presented an efficient algorithm to estimate the joint tolerance using sum-of-squares programming. It is theoretically proved that the algorithm provides a tight lower bound of the joint tolerance. Extensive numerical studies demonstrate that the proposed method is computationally efficient and near optimal. The algorithm is implemented in the JTE toolbox and is available at \url{https://github.com/intelligent-control-lab/Sum-of-Square-Safety-Optimization}.
