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%3A00000936" target="_blank" >RIV/46747885:24220/11:00000936 - 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. Theapproach includes iterative linearization (IL), iterative learning control (ILC) and parametricoptimization. The robot is assumed to perform a repeated task such as pick and place partsin an assembly line. Accordingly, in each trial in which the robot performs the task, a lineartime variant (LTV) version of its nonlinear dynamics model is obtained (using IL) and at thesame time an optimal control input for this LTV is computed by a parametric optimizationmethod. The optimal solution of each trial is stored in memory of the system to computethe optimal solution in the next trial (ILC). This procedure is repeated so that after a finitenumber of trials, the sequence of optimal solution of LTVs converges to the robot’s optimalcontrol input. Two outstanding features of this method consist in the fact that the optimalcontrol problem is solved gradually during some trials while the time necessary to computethe optimal control input is divided into some trials, and that the optimal solution of eachtrial is used as the initial guess of the next optimization problem. Hence, the global optimalsolution is finally achieved.
Czech name
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Czech description
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Project
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Continuities
I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Publication year
2011
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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