DocumentCode
2463593
Title
Trajectory optimization in terms of quasi-velocity vector
Author
Herman, Przemyslaw ; Kozlowski, Krzysztof
Author_Institution
Control & Syst. Eng., Poznan Univ. of Technol.
fYear
2006
fDate
13-15 Dec. 2006
Firstpage
881
Lastpage
886
Abstract
This paper deals with optimization of unnormalized quasi-velocities (UQV) introduced originally by Jain and Rodriguez (1995). The UQV are based on a decomposition of the manipulator mass matrix. The optimization is based on the Pontryagin maximum principle. It is shown that the optimal UQV make it possible to detect some properties of the system that are not observable if the system is described by using second-order differential equations of motion. The proposed approach was tested analytically and by simulations on a 2-d.o.f. planar mechanical system
Keywords
manipulator dynamics; maximum principle; optimisation; position control; Pontryagin maximum principle; manipulator mass matrix; planar mechanical system; quasivelocity vector; second-order differential motion equation; trajectory optimization; unnormalized quasivelocity; Differential equations; Force control; Kinematics; Manipulator dynamics; Matrix decomposition; Motion control; Robots; Torque control; Velocity control; Weight control;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2006 45th IEEE Conference on
Conference_Location
San Diego, CA
Print_ISBN
1-4244-0171-2
Type
conf
DOI
10.1109/CDC.2006.376881
Filename
4177015
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