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simmediummanipulationmetric · varies
DRAFTO: Decoupled Reduced-space and Adaptive Feasibility-repair Trajectory Optimization for Robotic Manipulators
Description
This paper introduces a new algorithm for trajectory optimization, Decoupled Reduced-space and Adaptive Feasibility-repair Trajectory Optimization (DRAFTO). It first constructs a constrained objective that accounts for smoothness, safety, joint limits, and task requirements. Then, it optimizes the coefficients, which are the coordinates of a set of basis functions for trajectory parameterization. To reduce the number of repeated constrained optimizations while handling joint-limit feasibility, t