论文标题
Pyrobobocop：基于Python的机器人控制与优化软件包，用于操纵
PYROBOCOP: Python-based Robotic Control & Optimization Package for Manipulation
论文作者
论文摘要
Pyrobobocop是一个基于Python的软件包，用于控制，优化和估计非线性差分代数方程（DAE）所描述的机器人系统。特别是，该软件包可以处理具有互补性约束所描述的联系人的系统，并为指定障碍避免限制的一般框架提供了一个通用框架。该软件包通过在有限元素上执行正交配置，将DAE直接转录到一组非线性方程中。 PyroBocop提供了对NLP求解器对机器人系统进行优化的互补限制的自动重新印象。该软件包与Adol-C [1]连接，用于通过自动分化和IPOPT [2]获得稀疏衍生物进行优化。我们评估了用于控制和估计的几个操纵问题的焦点库。
PYROBOCOP is a Python-based package for control, optimization and estimation of robotic systems described by nonlinear Differential Algebraic Equations (DAEs). In particular, the package can handle systems with contacts that are described by complementarity constraints and provides a general framework for specifying obstacle avoidance constraints. The package performs direct transcription of the DAEs into a set of nonlinear equations by performing orthogonal collocation on finite elements. PYROBOCOP provides automatic reformulation of the complementarity constraints that are tractable to NLP solvers to perform optimization of robotic systems. The package is interfaced with ADOL-C[1] for obtaining sparse derivatives by automatic differentiation and IPOPT[2] for performing optimization. We evaluate PYROBOCOP on several manipulation problems for control and estimation.
