DocumentCode
486036
Title
Optimal Control of a Robot with Obstacles
Author
Niv, Moshe ; Auslander, David M.
Author_Institution
Rafael, P.O.B. 2250, Haifa, Israel
fYear
1984
fDate
6-8 June 1984
Firstpage
280
Lastpage
287
Abstract
The Maximum principle is used to design an optimal control for a robot based on minimizing the time for a specified motion. With the use of an optimization technique, the optimal control problem is solved numerically using the complete, highly non-linear dynamic model of the manipulator. Robot geometrical and actuator limitations, as well as obstacles inside the work space, are considered in the optimal control solution.
Keywords
Actuators; Manipulator dynamics; Mechanical sensors; Nonlinear equations; Optimal control; Orbital robotics; Robot control; Robot kinematics; Robot sensing systems; Wrist;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1984
Conference_Location
San Diego, CA, USA
Type
conf
Filename
4788390
Link To Document