Global Optimal Feedback-Linearizing Control of Robot Manipulators

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F46747885%3A24220%2F13%3A%230003578" target="_blank" >RIV/46747885:24220/13:#0003578 - isvavai.cz</a>

Result on the web

<a href="http://dx.doi.org/10.1002/asjc.633" target="_blank" >http://dx.doi.org/10.1002/asjc.633</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1002/asjc.633" target="_blank" >10.1002/asjc.633</a>

Result language

angličtina

Original language name

Global Optimal Feedback-Linearizing Control of Robot Manipulators

Original language description

The present paper offers a new optimal feedback control scheme to obtain the optimal trajectories of robot manipulators. The presented method aims at solving the the unconstrained optimal control problem (OCP) of robot manipulators in a completely innovative manner without using the calculus of variations (indirect method), direct methods or dynamic programming approach. Most of these methods and their sub-branches yield a local optimal solution for the considered OCP by satisfying some necessary conditions to find the stationary point of the considered cost functional. In addition, the proposed method can be used for both set-point regulating (point-to-point) tasks (e.g. pick and place parts or spot welding tasks) and trajectory tracking tasks such aspainting or welding tasks. However, the proposed method can not support the physical constraints on robot manipulators and requires a precise dynamics of the robot, as well. Instead, it can be used as an on-line optimal control algorithm

Czech name

—

Czech description

—

Type

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

CEP classification

JD - Use of computers, robotics and its application

OECD FORD branch

—

Project

—

Continuities

I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Publication year

2013

Confidentiality

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

Name of the periodical

Asian Journal of Control

ISSN

1561-8625

e-ISSN

—

Volume of the periodical

15

Issue of the periodical within the volume

2013

Country of publishing house

CN - CHINA

Number of pages

10

Pages from-to

1178-1187

UT code for WoS article

—

EID of the result in the Scopus database

—