Suboptimal Synchronous Control for an Industrial Robot.

被引：0
|
作者：
Roessler, J.
机构：
来源：
Regelungstechnik RT | 1980年 / 28卷 / 11期
关键词：
D O I：
暂无
中图分类号：
学科分类号：
摘要：
A special algorithm for a decentralized control concept for the subsystems of robots is described. This concept will be implemented on the lowest control level and takes into account specially the synchronization of the subsystems. According to a selected subsystem (reference-system) it will be possible to define relations between the subsystems in order to synchronize the dynamic behavior of all systems. The reference-system will be governed by an optimal control law with a linear-quadratic performance index. The problem of synchronization may be physically interpreted as the problem of the equivalence of eigenfrequencies and damping properties of all (closed loop) subsystems. Unlike in the reference system, the control of all other systems is in general suboptimal. By means of a global performance index a suboptimal, synchronous control is proposed.
引用
收藏
页码：359 / 365
相关论文
共 50 条
  • [41] Vision-based control of an air hockey playing robot.
    Bishop, BE
    Spong, MW
    IEEE CONTROL SYSTEMS MAGAZINE, 1999, 19 (03): : 23 - 32
  • [42] Biologically inspired neural controllers for motor control in a quadruped robot.
    Billard, A
    Ijspeert, AJ
    IJCNN 2000: PROCEEDINGS OF THE IEEE-INNS-ENNS INTERNATIONAL JOINT CONFERENCE ON NEURAL NETWORKS, VOL VI, 2000, : 637 - 641
  • [43] APPLICATION OF TWO-DEGREES-OF-FREEDOM TACTILE SENSOR FOR INDUSTRIAL WELDING ROBOT.
    Presern, Sass
    Ozimek, Igor
    Spegel, Marjan
    1983, : 177 - 183
  • [44] SUCCESSFULLY PACKAGING THE PAINTING ROBOT.
    Schmidt, Thomas D.
    Robotics today, 1986, 8 (03): : 31 - 34
  • [45] How to socialize a robot. Introduction
    Alac, Morana
    AVANT, 2013, 4 (01): : 131 - +
  • [46] MASS PARTS DISPENSER FOR A ROBOT.
    Anon
    IBM technical disclosure bulletin, 1986, 29 (02): : 516 - 517
  • [47] PATH FINDING MOBILE ROBOT.
    Hirota, Kaoru
    Ariizumi, Yoshihiro
    Hosei Daigaku Kogakubu kenkyu shuho, 1988, (24): : 69 - 78
  • [48] Testing quality characteristics with a robot.
    Ehrenweber, R
    KUNSTSTOFFE-PLAST EUROPE, 1996, 86 (04): : 482 - 483
  • [49] DIAMOND WIRE TEAMS WITH ROBOT.
    Larane, Andre
    Industrial Diamond Review, 1982, 42 (493): : 336 - 338
  • [50] GUIDANCE SYSTEM FOR A MOBILE ROBOT.
    Julliere, M.
    Marce, L.
    Place H.
    Technical Paper - Society of Manufacturing Engineers. MS, 1983,
12345