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Soft Terminal constrains? #170
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Hi Sina, we do have the Best, |
Hi Lars, Thank you for your response. I appreciate your initial clarification regarding the minimum_duration parameter in the InputParameter class. However, I still have some doubts about whether the proposed solution fully addresses my specific optimization problem. To provide further clarity, let me elaborate on my requirements: I am dealing with a robot that has initial conditions denoted as In such cases, I am looking for a way to modify the problem to make it feasible while maintaining a certain level of flexibility. Specifically, I want to enforce a "hard" terminal constraint on the position, meaning that My concern lies in the proposal to artificially set the target velocity and acceleration to zero. I am not fully sure if this new formulation will result in a shorter motion duration in general and also how the desired behavior could be driven from this? Thx again, |
I see. This is indeed a much more complex problem, and my answer above is only for the trivial case where a solution with There exists a minimum time There is the zero-solution from above with There is also a time In between Or are you only interested in a single DoF? |
Thank you so much for the elaborated answer, it was indeed helpful :)
which usually takes much longer, around 18 to 30us. |
Hi Sina, I just wanted to follow up on this in a DM, but couldn't find your email address. Lars |
Hello,
Thx for the great package.
I was wondering if it is possible to formulate the problem such that we could have a hard constraint on the duration of the motion but soft constraint on the terminal values (e.g. velocity/acceleration or even position)?
Best Regards,
Sina
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