Abstract: Industrial robotics demands significant energy to operate, making energy-reduction methodologies increasingly important. Strategies for planning minimum-energy trajectories typically involve solving nonlinear optimal control problems (OCPs), which rarely cope with real-time (RT) requirements. In this article, we propose a paradigm for generating near … [Read more...] about Real-Time Generation of Near Minimum-Energy Trajectories via Constraint-Informed Residual Learning: A Paradigm for Learning From Optimal Solutions
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