[Ipopt] Fwd: NLP optimization with CasADI and Ipopt

Arianna Gasparri aryx1992 at gmail.com
Wed Jan 1 11:51:02 EST 2020


I'm new about this group and about NLP in general. I'm facing with the
problem of finding the optimal trajectory for an RR planar robotic arm
specifying the final desired position.
When I try to solve the problem, IPOPT returns me this kind of string:
EXIT: Converged to a point of local infeasibility. Problem may be
I've found this link
https://www.coin-or.org/Ipopt/documentation/node36.html which
says that the returned value may help me to find which constraints is
causing the problem, but I don't know how to do this!

I have also try to print the solution found and I've seen that it is an
oscillating response that tends to diverge.

Can someone help me?

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