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Title: Time-optimal control of redundant manipulators

Creator:

Galicki, Mirosław ; Pająk, Grzegorz ; Pająk, Iwona

Date:

1997

Resource Type:

artykuł

Contributor:

Kozłowski, Krzysztof - ed.

Subtitle:

Recent Developments in Robotics

Group publication title:

AMCS, volume 7 (1997)

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

Resource Identifier:

oai:zbc.uz.zgora.pl:57815

Pages:

333-341

Source:

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

Language:

eng

Rights:

Biblioteka Uniwersytetu Zielonogórskiego

Subject and keywords:

sterowanie sterowanie-teoria sztuczna inteligencja matematyka stosowana informatyka

Object collections:

Last modified:

Sep 2, 2021

In our library since:

Nov 18, 2020

Number of object content hits:

91

All available object's versions:

https://zbc.uz.zgora.pl/repozytorium/publication/64498

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Time-optimal control of redundant manipulators Sep 2, 2021

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