About: Combined Optimal Control Technique for Robot Manipulators

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rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
Description	A combined optimal control method for robot manipulators is presented. The approach includes iterative linearization (IL), iterative learning control (ILC) and parametric optimization. The robot is assumed to perform a repeated task such as pick and place parts in an assembly line. Accordingly, in each trial in which the robot performs the task, a linear time variant (LTV) version of its nonlinear dynamics model is obtained (using IL) and at the same time an optimal control input for this LTV is computed by a parametric optimization method. The optimal solution of each trial is stored in memory of the system to compute the optimal solution in the next trial (ILC). This procedure is repeated so that after a finite number of trials, the sequence of optimal solution of LTVs converges to the robot’s optimal control input. Two outstanding features of this method consist in the fact that the optimal control problem is solved gradually during some trials while the time necessary to compute the optimal control input is divided into some trials, and that the optimal solution of each trial is used as the initial guess of the next optimization problem. Hence, the global optimal solution is finally achieved. A combined optimal control method for robot manipulators is presented. The approach includes iterative linearization (IL), iterative learning control (ILC) and parametric optimization. The robot is assumed to perform a repeated task such as pick and place parts in an assembly line. Accordingly, in each trial in which the robot performs the task, a linear time variant (LTV) version of its nonlinear dynamics model is obtained (using IL) and at the same time an optimal control input for this LTV is computed by a parametric optimization method. The optimal solution of each trial is stored in memory of the system to compute the optimal solution in the next trial (ILC). This procedure is repeated so that after a finite number of trials, the sequence of optimal solution of LTVs converges to the robot’s optimal control input. Two outstanding features of this method consist in the fact that the optimal control problem is solved gradually during some trials while the time necessary to compute the optimal control input is divided into some trials, and that the optimal solution of each trial is used as the initial guess of the next optimization problem. Hence, the global optimal solution is finally achieved. (en)
Title	Combined Optimal Control Technique for Robot Manipulators Combined Optimal Control Technique for Robot Manipulators (en)
skos:prefLabel	Combined Optimal Control Technique for Robot Manipulators Combined Optimal Control Technique for Robot Manipulators (en)
skos:notation	RIV/46747885:24220/11:#0002143!RIV13-MSM-24220___
http://linked.open...avai/riv/aktivita	S
http://linked.open...avai/riv/aktivity	S
http://linked.open...iv/cisloPeriodika	1
http://linked.open...vai/riv/dodaniDat	2013
http://linked.open...aciTvurceVysledku	Záda, Václav
http://linked.open.../riv/druhVysledku	J - Článek v odborném periodiku
http://linked.open...iv/duvernostUdaju	S - Úplné a pravdivé údaje nepodléhající ochraně podle zvláštních právních předpisů
http://linked.open...titaPredkladatele	Technická univerzita v Liberci / Fakulta mechatroniky, informatiky a mezioborových studií
http://linked.open...dnocenehoVysledku	190892
http://linked.open...ai/riv/idVysledku	RIV/46747885:24220/11:#0002143
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	Robot manipulator; optimal control; iterative linearization; spline function; performance criterion (en)
http://linked.open.../riv/klicoveSlovo	Robot manipulator iterative linearization optimal control performance criterion spline function
http://linked.open...odStatuVydavatele	CZ - Česká republika
http://linked.open...ontrolniKodProRIV	[5002D19FD094]
http://linked.open...i/riv/nazevZdroje	Acta Technica
http://linked.open...in/vavai/riv/obor	JB
http://linked.open...ichTvurcuVysledku	1 (xsd:int)
http://linked.open...cetTvurcuVysledku	2 (xsd:int)
http://linked.open...UplatneniVysledku	2011
http://linked.open...v/svazekPeriodika	56
http://linked.open...iv/tvurceVysledku	Chatraei, Abbas Záda, Václav
issn	0001-7043
number of pages	19 (xsd:int)
http://localhost/t...ganizacniJednotka	24220

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