Title :
Computation of an efficient open-loop strategy and its influence on feed-back control
Author :
Qu, S. ; Marti, K.
Author_Institution :
Inst. of Math. & Comput. Sci., Munchen Univ., Germany
Abstract :
To obtain an efficient open-loop control strategy for robots under uncertainty, the statistical and a priori informations about the random parameters and disturbances of the underlying mechanical system and its environment are taken into account for off-line programming. The influence of our open-loop strategy on the online feed-back control is compared with that of other open-loop strategies
Keywords :
feedback; robots; uncertain systems; a priori information; efficient open-loop strategy; off-line programming; online feedback control; random disturbances; random parameters; robots; statistical information; uncertainty; Equations; Error correction; Open loop systems; Orbital robotics; Robot kinematics; Robot programming; Robot sensing systems; Stochastic processes; Trajectory; Uncertainty;
Conference_Titel :
Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94. Proceedings of the IEEE/RSJ/GI International Conference on
Print_ISBN :
0-7803-1933-8
DOI :
10.1109/IROS.1994.407374
