Combined optimal control technique for robot manipulators

Kód výsledku v IS VaVaI

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Výsledek na webu

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DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

Combined optimal control technique for robot manipulators

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Combined optimal control technique for robot manipulators

Popis výsledku anglicky

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.

Druh

O - Ostatní výsledky

CEP obor

JD - Využití počítačů, robotika a její aplikace

OECD FORD obor

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Projekt

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Návaznosti

I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Rok uplatnění

2011

Kód důvěrnosti údajů

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