Velocity control of redundant robots using a global optimization approach

Tzafestas, SG; Zagorianos, A; Dimou, P

dc.contributor.author	Tzafestas, SG	en
dc.contributor.author	Zagorianos, A	en
dc.contributor.author	Dimou, P	en
dc.date.accessioned	2014-03-01T01:46:16Z
dc.date.available	2014-03-01T01:46:16Z
dc.date.issued	1997	en
dc.identifier.issn	02329298	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/24880
dc.relation.uri	http://www.scopus.com/inward/record.url?eid=2-s2.0-0031352950&partnerID=40&md5=3cc4468ea736db72580194040eb77906	en
dc.subject.other	Equations of motion	en
dc.subject.other	Integral equations	en
dc.subject.other	Inverse kinematics	en
dc.subject.other	Inverse problems	en
dc.subject.other	Optimization	en
dc.subject.other	Redundancy	en
dc.subject.other	Robotics	en
dc.subject.other	Velocity control	en
dc.subject.other	Euler Lagrange equations	en
dc.subject.other	Hamilton principle	en
dc.subject.other	Redundant robots	en
dc.subject.other	Manipulators	en
dc.title	Velocity control of redundant robots using a global optimization approach	en
heal.type	journalArticle	en
heal.publicationDate	1997	en
heal.abstract	Kinematic and control considerations of redundant robots, i.e. robots with more than six axes of motion are currently of increasing interest. The inverse kinematic problem of such robots is treated here by taking into account both the system dynamics, expressed by its Lagrangian L, and the kinematic constraints of the robot. As an objective criterion the Hamilton principle is adopted which states that the actual path in the configuration space renders the value of the definite integral I = ∫t(1)t(2) Ldt stationary with respect to all arbitrary variations of the path between two time instants t1 and t2. Hence one asks for the best set of solutions which minimize the above integral, over the robot path, while the kinematic equation dx/dt = J(q)(dq/dt) of the manipulator holds. But the stationarity of the Hamilton principle implies the satisfaction of the Euler-Lagrange equations. Thus the joints of the manipulator are forced to follow the optimum path, obeying, at each time, the dynamic equations of the system. A numerical example concerning a robotic manipulator with one degree of redundancy illustrates the method.	en
heal.publisher	Gordon & Breach Science Publ Inc, Newark, NJ, United States	en
heal.journalName	Systems Analysis Modelling Simulation	en
dc.identifier.volume	29	en
dc.identifier.issue	4	en
dc.identifier.spage	287	en
dc.identifier.epage	299	en