OPTIMAL-CONTROL OF ROBOTIC MANIPULATORS IN THE PRESENCE OF OBSTACLES

被引：6

作者：

CHEN, YC ^{[1
]}

VIDYASAGAR, M ^{[1
]}

机构：

[1] UNIV WATERLOO,DEPT ELECT ENGN,WATERLOO N2L 3G1,ONTARIO,CANADA

来源：

JOURNAL OF ROBOTIC SYSTEMS | 1990年 / 7卷 / 05期

关键词：

D O I：

10.1002/rob.4620070505

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

In this article, the optimal control problem for (rigid) robotic manipulators in the presence of obstacles is considered. First, two methods for the modeling of obstacles are considered. Through these methods, closed‐form approximations of obstacles in terms of the generalized coordinates of the manipulator are obtained. These expressions are then used to formulate an optimal control problem with state space constraints. The resulting optimal control problem is then solved numerically. Copyright © 1990 Wiley Periodicals, Inc., A Wiley Company

引用

页码：721 / 740

页数：20

共 50 条

[1] NO-OVERSHOOT CONTROL OF ROBOTIC MANIPULATORS IN THE PRESENCE OF OBSTACLES
DENKER, A
ATHERTON, DP
[J]. JOURNAL OF ROBOTIC SYSTEMS, 1994, 11 (07): : 665 - 678
[2] OPTIMAL-CONTROL OF ROBOTIC MANIPULATORS BY A SOFTWARE SERVO DEVICE
TAKITA, Y
SETO, K
NAKAMIZO, T
[J]. BULLETIN OF THE JSME-JAPAN SOCIETY OF MECHANICAL ENGINEERS, 1986, 29 (250): : 1274 - 1279
[3] APPLICATION OF OPTIMAL-CONTROL THEORY TO FLEXIBLE ROBOTIC MANIPULATORS
LEE, JD
[J]. ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING, 1990, 7 (3-4) : 327 - 335
[4] ON COMPUTING THE GLOBAL TIME-OPTIMAL MOTIONS OF ROBOTIC MANIPULATORS IN THE PRESENCE OF OBSTACLES
SHILLER, Z
DUBOWSKY, S
[J]. IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1991, 7 (06): : 785 - 797
[5] ADAPTIVE FEEDBACK OPTIMAL-CONTROL FOR ROBOT MANIPULATORS
KHOUKHI, A
[J]. PROCEEDINGS OF THE 1989 AMERICAN CONTROL CONFERENCE, VOLS 1-3, 1989, : 1021 - 1022
[6] APPROXIMATION THEORY OF OPTIMAL-CONTROL FOR TRAINABLE MANIPULATORS
SARIDIS, GN
[J]. IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS, 1979, 9 (03): : 152 - 159
[7] CONTRIBUTION TO CONTROL OF REDUNDANT ROBOTIC MANIPULATORS IN AN ENVIRONMENT WITH OBSTACLES
KIRCANSKI, M
VUKOBRATOVIC, M
[J]. INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1986, 5 (04): : 112 - 119
[8] The planning of robotic optimal motions in the presence of obstacles
Galicki, M
[J]. INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1998, 17 (03): : 248 - 259
[9] OPTIMAL TRAJECTORY CONTROL OF ROBOTIC MANIPULATORS
HANAFI, A
WRIGHT, FW
HEWIT, JR
[J]. MECHANISM AND MACHINE THEORY, 1984, 19 (02) : 267 - 273
[10] OPTIMAL FEEDFORWARD CONTROL OF ROBOTIC MANIPULATORS
MURTUZA, S
[J]. ROBOTS 13: CONFERENCE PROCEEDINGS, 1989, : K1 - K21

← 1 2 3 4 5 →