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Statements

Subject Item
n2:RIV%2F46747885%3A24220%2F13%3A%230002429%21RIV14-MSM-24220___
rdf:type
skos:Concept n12:Vysledek
dcterms:description
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.
dcterms:title
Global Optimal Feedback-Linearizing Control of Robot Manipulators Global Optimal Feedback-Linearizing Control of Robot Manipulators
skos:prefLabel
Global Optimal Feedback-Linearizing Control of Robot Manipulators Global Optimal Feedback-Linearizing Control of Robot Manipulators
skos:notation
RIV/46747885:24220/13:#0002429!RIV14-MSM-24220___
n12:predkladatel
n13:orjk%3A24220
n3:aktivita
n19:I
n3:aktivity
I
n3:cisloPeriodika
15
n3:dodaniDat
n8:2014
n3:domaciTvurceVysledku
n6:2374072
n3:druhVysledku
n18:J
n3:duvernostUdaju
n17:S
n3:entitaPredkladatele
n11:predkladatel
n3:idSjednocenehoVysledku
76662
n3:idVysledku
RIV/46747885:24220/13:#0002429
n3:jazykVysledku
n14:eng
n3:klicovaSlova
robot manipulator; optimal control; congruent metric
n3:klicoveSlovo
n4:robot%20manipulator n4:optimal%20control n4:congruent%20metric
n3:kodStatuVydavatele
CN - Čínská lidová republika
n3:kontrolniKodProRIV
[22D6754B80AF]
n3:nazevZdroje
Asian Journal of Control
n3:obor
n15:JD
n3:pocetDomacichTvurcuVysledku
1
n3:pocetTvurcuVysledku
2
n3:rokUplatneniVysledku
n8:2013
n3:svazekPeriodika
2013
n3:tvurceVysledku
Chatraei, Abbas Záda, Václav
s:issn
1934-6093
s:numberOfPages
10
n16:doi
10.1002/asjc.633
n10:organizacniJednotka
24220