This HTML5 document contains 40 embedded RDF statements represented using HTML+Microdata notation.

The embedded RDF content will be recognized by any processor of HTML5 Microdata.

Namespace Prefixes

PrefixIRI
dctermshttp://purl.org/dc/terms/
n14http://localhost/temp/predkladatel/
n5http://linked.opendata.cz/resource/domain/vavai/riv/tvurce/
n17http://linked.opendata.cz/resource/domain/vavai/subjekt/
n16http://linked.opendata.cz/ontology/domain/vavai/
shttp://schema.org/
skoshttp://www.w3.org/2004/02/skos/core#
n3http://linked.opendata.cz/ontology/domain/vavai/riv/
n2http://linked.opendata.cz/resource/domain/vavai/vysledek/
rdfhttp://www.w3.org/1999/02/22-rdf-syntax-ns#
n15http://linked.opendata.cz/resource/domain/vavai/vysledek/RIV%2F46747885%3A24220%2F11%3A%230002143%21RIV13-MSM-24220___/
n8http://linked.opendata.cz/ontology/domain/vavai/riv/klicoveSlovo/
n6http://linked.opendata.cz/ontology/domain/vavai/riv/duvernostUdaju/
xsdhhttp://www.w3.org/2001/XMLSchema#
n12http://linked.opendata.cz/ontology/domain/vavai/riv/jazykVysledku/
n11http://linked.opendata.cz/ontology/domain/vavai/riv/aktivita/
n18http://linked.opendata.cz/ontology/domain/vavai/riv/obor/
n13http://linked.opendata.cz/ontology/domain/vavai/riv/druhVysledku/
n9http://reference.data.gov.uk/id/gregorian-year/

Statements

Subject Item
n2:RIV%2F46747885%3A24220%2F11%3A%230002143%21RIV13-MSM-24220___
rdf:type
skos:Concept n16:Vysledek
dcterms: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.
dcterms:title
Combined Optimal Control Technique for Robot Manipulators Combined Optimal Control Technique for Robot Manipulators
skos:prefLabel
Combined Optimal Control Technique for Robot Manipulators Combined Optimal Control Technique for Robot Manipulators
skos:notation
RIV/46747885:24220/11:#0002143!RIV13-MSM-24220___
n16:predkladatel
n17:orjk%3A24220
n3:aktivita
n11:S
n3:aktivity
S
n3:cisloPeriodika
1
n3:dodaniDat
n9:2013
n3:domaciTvurceVysledku
n5:2374072
n3:druhVysledku
n13:J
n3:duvernostUdaju
n6:S
n3:entitaPredkladatele
n15:predkladatel
n3:idSjednocenehoVysledku
190892
n3:idVysledku
RIV/46747885:24220/11:#0002143
n3:jazykVysledku
n12:eng
n3:klicovaSlova
Robot manipulator; optimal control; iterative linearization; spline function; performance criterion
n3:klicoveSlovo
n8:Robot%20manipulator n8:optimal%20control n8:spline%20function n8:performance%20criterion n8:iterative%20linearization
n3:kodStatuVydavatele
CZ - Česká republika
n3:kontrolniKodProRIV
[5002D19FD094]
n3:nazevZdroje
Acta Technica
n3:obor
n18:JB
n3:pocetDomacichTvurcuVysledku
1
n3:pocetTvurcuVysledku
2
n3:rokUplatneniVysledku
n9:2011
n3:svazekPeriodika
56
n3:tvurceVysledku
Chatraei, Abbas Záda, Václav
s:issn
0001-7043
s:numberOfPages
19
n14:organizacniJednotka
24220