Vitali Anselm, "Receding Horizon Control for Anticipatory Movement Generation of a Robot Arm", 2010.

The focus of this diploma thesis is set on the trajectory adaptation for robots with regard to dynamical changing situations. The existing system, which generates the movements of the robot by a batch-approach with sequential flow, is improved in such way that it becomes a system with a reactive behaviour. This work deploys the concepts of a predictive control, namely of the Receding Horizon Control (RHC). Thereby, a prediction horizon and optimizing methods are taken into account in order to adapt the movement trajectory. The available simulation framework is extended by several useful elements for the implementation of the developed concepts. It is used to test interactively the new concepts on the one hand and to conduct multiple simulation tests on the other hand. The simulation results with different configurations are analyzed and evaluated. The algorithms created within this diploma work are not only tested in the simulation, but they are also used successfully for the experiments with both an industrial robot at the Institute for Control and Systems Engineering, TU Dortmund University, and a humanoid robot at Honda Research Institute.