Global Optimal Feedback-Linearizing Control of Robot Manipulators

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Global Optimal Feedback-Linearizing Control of Robot Manipulators

Popis výsledku v původním jazyce

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

Název v anglickém jazyce

Global Optimal Feedback-Linearizing Control of Robot Manipulators

Popis výsledku anglicky

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

Druh

J_x - Nezařazeno - Článek v odborném periodiku (Jimp, Jsc a Jost)

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

2013

Kód důvěrnosti údajů

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

Název periodika

Asian Journal of Control

ISSN

1561-8625

e-ISSN

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Svazek periodika

15

Číslo periodika v rámci svazku

2013

Stát vydavatele periodika

CN - Čínská lidová republika

Počet stran výsledku

10

Strana od-do

1178-1187

Kód UT WoS článku

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EID výsledku v databázi Scopus

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