Optimization methods for investigation and control of complex manipulation systems

被引：0
|
作者：
Krak, YV [1 ]
机构：
[1] Taras Shevchenko Univ, Dept Complex Syst Modeling, UA-03127 Kiev, Ukraine
来源：
CONTROL APPLICATIONS OF OPTIMIZATION 2000, VOLS 1 AND 2 | 2000年
关键词：
optimization; decomposition; robot kinematics; robot dynamic; systems design; co-ordination;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The paper is devoted to the development of new methods of investigation of complex non-linear dynamic multi-link manipulation systems, based on mechanics approaches, methods of optimal control theory, optimizations, of linear algebra, symbolic calculations and pseudo inversions. Optimization problems statements are proposed and methods of systems analysis for geometrical and topological parameters, positions planning, investigation static problems, movement organizations, formation of mathematical models in numerical-analytical form with computational complexity minimization, dynamics and control of complex manipulation systems are created. Copyright (C) 2000 IFAC.
引用
收藏
页码：199 / 204
页数：6
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