An efficient open-loop strategy for robotic systems under stochastic uncertainty

To compute an efficient open-loop strategy for robots, the known statistical data about stochastic parameters of the robots should be considered already for off-line programming, so that, on the basis of an efficient open-loop control, only a simple on-line feed-back control is necessary for the correction of remaining deviations from the nominal path. Numerical results based on this method are presented for some robots in comparison with standard deterministic open-loop strategies. Moreover, the influence of our open-loop strategy on the on-line feed-back control is compared with that of other opera-loop strategies. The consideration of stochastic parameters and disturbances already in off-line phase leads to a much better open-loop strategy.