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  • 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 as painting 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 which produces the optimal solution without performing any kind of optimization algorithms which require time to find the optimal solution.
  • 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 as painting 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 which produces the optimal solution without performing any kind of optimization algorithms which require time to find the optimal solution. (en)
Title
  • Global Optimal Feedback-Linearizing Control of Robot Manipulators
  • Global Optimal Feedback-Linearizing Control of Robot Manipulators (en)
skos:prefLabel
  • Global Optimal Feedback-Linearizing Control of Robot Manipulators
  • Global Optimal Feedback-Linearizing Control of Robot Manipulators (en)
skos:notation
  • RIV/46747885:24220/13:#0002429!RIV14-MSM-24220___
http://linked.open...avai/riv/aktivita
http://linked.open...avai/riv/aktivity
  • I
http://linked.open...iv/cisloPeriodika
  • 15
http://linked.open...vai/riv/dodaniDat
http://linked.open...aciTvurceVysledku
http://linked.open.../riv/druhVysledku
http://linked.open...iv/duvernostUdaju
http://linked.open...titaPredkladatele
http://linked.open...dnocenehoVysledku
  • 76662
http://linked.open...ai/riv/idVysledku
  • RIV/46747885:24220/13:#0002429
http://linked.open...riv/jazykVysledku
http://linked.open.../riv/klicovaSlova
  • robot manipulator; optimal control; congruent metric (en)
http://linked.open.../riv/klicoveSlovo
http://linked.open...odStatuVydavatele
  • CN - Čínská lidová republika
http://linked.open...ontrolniKodProRIV
  • [22D6754B80AF]
http://linked.open...i/riv/nazevZdroje
  • Asian Journal of Control
http://linked.open...in/vavai/riv/obor
http://linked.open...ichTvurcuVysledku
http://linked.open...cetTvurcuVysledku
http://linked.open...UplatneniVysledku
http://linked.open...v/svazekPeriodika
  • 2013
http://linked.open...iv/tvurceVysledku
  • Chatraei, Abbas
  • Záda, Václav
issn
  • 1934-6093
number of pages
http://bibframe.org/vocab/doi
  • 10.1002/asjc.633
http://localhost/t...ganizacniJednotka
  • 24220
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