Trajectory Generation Method Based on DDP for 6-DOF Collaborative Robot

摘要

Nonlinear Model Predictive Control (NMPC) is one of the optimal control techniques. Solving for the optimal solution of a nonlinear model can be approached through three main methods, and recently, research on Differential Dynamic Programming (DDP) based on Dynamic Programming (DP) has gained significant attention. In this study, we applied DDP to generate trajectories for the RB5-850, a 6-DOF collaborative robot developed by Rainbow Robotics, and its performance was validated through simulations. The results demonstrate the effectiveness and applicability of the DDP algorithm in generating optimal trajectories for collaborative robots.