Combined Optimal Control Technique for Robot Manipulators

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F46747885%3A24220%2F11%3A%230002143" target="_blank" >RIV/46747885:24220/11:#0002143 - isvavai.cz</a>

Result on the web

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DOI - Digital Object Identifier

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Result language

angličtina

Original language name

Combined Optimal Control Technique for Robot Manipulators

Original language description

A combined optimal control method for robot manipulators is presented. The approach includes iterative linearization (IL), iterative learning control (ILC) and parametric optimization. The robot is assumed to perform a repeated task such as pick and place parts in an assembly line. Accordingly, in each trial in which the robot performs the task, a linear time variant (LTV) version of its nonlinear dynamics model is obtained (using IL) and at the same time an optimal control input for this LTV is computed by a parametric optimization method. The optimal solution of each trial is stored in memory of the system to compute the optimal solution in the next trial (ILC). This procedure is repeated so that after a finite number of trials, the sequence of optimal solution of LTVs converges to the robot?s optimal control input. Two outstanding features of this method consist in the fact that the optimal control problem is solved gradually during some trials while the time necessary to compute th

Czech name

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Czech description

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Type

J_x - Unclassified - Peer-reviewed scientific article (Jimp, Jsc and Jost)

CEP classification

JB - Sensors, detecting elements, measurement and regulation

OECD FORD branch

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Project

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Continuities

S - Specificky vyzkum na vysokych skolach

Publication year

2011

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

Acta Technica

ISSN

0001-7043

e-ISSN

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Volume of the periodical

56

Issue of the periodical within the volume

1

Country of publishing house

CZ - CZECH REPUBLIC

Number of pages

19

Pages from-to

23-42

UT code for WoS article

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EID of the result in the Scopus database

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