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Global optimal control of redundant robot

Published online by Cambridge University Press:  09 March 2009

Karl Gotlih ,
Inge Troch  and
Karel Jezernik
Karl Gotlih
Affiliation:
University of Maribor, Faculty of Mechanical Engineering, Smetanova 17, SI–62000 Maribor (Slovenia).
Inge Troch
Affiliation:
Technical University Vienna, Inst. f. Technical Mathematics, Wiedner Haupstrasse 8–10/114, A–1040 Vienna (Austria).
Karel Jezernik
Affiliation:
University of Maribor, Faculty of Electrical Engineering and Computer Science, Smetanova 17, SI–62000 Maribor (Slovenia).
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Summary

A global optimal control algorithm was developed with the aim of finding a control which satisfies some special requirements in the sense of obtaining singular position free movement of the redundant robot mechanism. The solution of the developed global optimal control algorithm is a boundary value problem. The additional constraints in the boundary value problem were constructed with the use of an optimization process. The usefulness of the developed global optimal control algorithm is demonstrated by the example of the 3 DOFs planar redundant robot mechanism of SCARA type.

Keywords

Optimal controlRedundant robotBoundary problemAlgorithm

Information

Type
Article
Information
Robotica , Volume 14 , Issue 2 , March 1996 , pp. 131 - 140
Copyright
Copyright © Cambridge University Press 1996

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