Digital Library of Zielona Góra contains 9 272 digital objects
Object
Title: Redundancy resolution of manipulator by global optimization
Contributor:
Tchoń, Krzysztof - ed. ; Gosiewski, Anatol - ed.
Subtitle:
Mathematical Methods in Robotics
Group publication title:
Abstract:
Global optimization in the redundancy resolution, involving direct dynamic equations of a manipulator, is presented. It is carried out by using the necessary and sufficient conditions for a minimum of integral-type criteria with a free upper limit of integration. Boundary conditions resulting from the manipulator task to be performed are taken into consideration. General transversality conditions corresponding to the boundary ones are derived. ; As a result, a closed system of boundary dependencies, fully specifying differential equations which result from the necessary conditions for a minimum, to find an extremal joint trajectory, is obtained. In order to verify the above extremal trajectory for optimality, (local) sufficient conditions are employed. A computer example involving a planar manipulator of three revolute kinematic pairs is presented.
Publisher:
Zielona Góra: Uniwersytet Zielonogórski
Resource Identifier:
Pages:
Source:
AMCS, volume 5, number 2 (1995) ; click here to follow the link
Language:
License CC BY 4.0:
Rights:
Biblioteka Uniwersytetu Zielonogórskiego
Object collections:
- Repository > Faculties > Faculty of Computer, Electrical and Control Engineering
- Repository > Types of work > Articles
- Repository > Scientific journals and UZ publishing series > International Journal of Applied Mathematics and Computer Science (AMCS) > International Journal of Applied Mathematics and Computer Science (AMCS) (1995)
Last modified:
Jul 14, 2025
In our library since:
Sep 21, 2020
Number of object content hits:
170
All available object's versions:
https://zbc.uz.zgora.pl/repozytorium/publication/64257
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| Edition name | Date |
|---|---|
| Redundancy resolution of manipulator by global optimization | Jul 14, 2025 |
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