Optimal Trajectory Planning for Robots under the Consideration of Stochastic Parameters and Disturbances — Computation of an Efficient Open-Loop Strategy

The stochastic variations of many mechanical parameters and certain mechanical disturbances may be very large. To reduce the high expenses for on-line sensors and on-line processing time, the available statistical information about the stochastic parameters of the robot and disturbances should be considered already for off-line programming of robots. This paper proposes some substitue problems considering the stochastic variations of the model parameter of robots. Numerical methods for solving the substitute problems are discussed, and the dependence of the solutions on the variances of stochastic parameters is analysed.