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Combined Optimal Control Technique for Robot Manipulators

The result's identifiers

  • 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

  • DOI - Digital Object Identifier

Alternative languages

  • 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

  • Czech description

Classification

  • Type

    J<sub>x</sub> - Unclassified - Peer-reviewed scientific article (Jimp, Jsc and Jost)

  • CEP classification

    JB - Sensors, detecting elements, measurement and regulation

  • OECD FORD branch

Result continuities

  • Project

  • Continuities

    S - Specificky vyzkum na vysokych skolach

Others

  • Publication year

    2011

  • Confidentiality

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

Data specific for result type

  • Name of the periodical

    Acta Technica

  • ISSN

    0001-7043

  • e-ISSN

  • 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

  • EID of the result in the Scopus database