Creator:

Galicki, Mirosław ; Pająk, Grzegorz ; Pająk, Iwona

Contributor:

Kozłowski, Krzysztof - ed.

Title:

Time-optimal control of redundant manipulators

Subtitle:

Recent Developments in Robotics

Group publication title:

AMCS, volume 7 (1997)

Subject and Keywords:

sterowanie ; sterowanie-teoria ; sztuczna inteligencja ; matematyka stosowana ; informatyka

Abstract:

A method of finding optimal controls for both non-redundant and redundant manipulators is considered. It is based on a strict convexifying of the original control set with any desired accuracy in the Hausdorff sense. The optimal controls thus obtained are shown to converge (weakly) to a bang-bang solution. Furthermore, this method produces also controls which may be directly used to provide nominal inputs in on-line manipulator control. A simple numerical example involving a three-degree-of-freedom revolute kinematically redundant manipulator is presented

Publisher:

Zielona Góra: Uniwersytet Zielonogórski

Date:

1997

Resource Type:

artykuł

Pages:

333-341

Source:

AMCS, volume 7, number 2 (1997) ; click here to follow the link

Language:

eng

License CC BY 4.0:

click here to follow the link

Rights:

Biblioteka Uniwersytetu Zielonogórskiego