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A method is addressed for real-time dynamics trajectory optimization of kinematically redundant manipulators. The considered task of trajectory planning is to teach interactively position and orientation of the tool-centerpoint frame, which is fixed in the manipulator hand. Thereby the manipulator has to autonomously preserve explicitly formulated kinematic constraints such as moving obstacle avoidance, singularity avoidance, and box-constraints on joint positions as well as dynamic constraints like box-constraints on joint velocities, accelerations and motor torques. The k e y idea is to transform the resulting overall motion planning problem into a timed series of point-to-point trajectory planning problems, which, in turn, may be formulated as parameter optimization problems, that can be eficiently solved in real-time b y the numerical method of sequential quadratic programming. Since the approach does not require an inverse kinematics formulation it is feasible for manipulators with redundant kinematics.

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A m utual compatibility concept is proposed for the further developments of RASP and SLICOT control libraries. The adoption of this concept will permit a coordinated development of both libraries leading to a reduction of software implementation and testing e orts. A rst development along the new mutual compatibility concept is the recently developed model reduction library RASP-MODRED.

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