Global optimization technique for velocity control of redundant robots

Zagorianos, A; Tzafestas, S; Dimou, P

dc.contributor.author	Zagorianos, A	en
dc.contributor.author	Tzafestas, S	en
dc.contributor.author	Dimou, P	en
dc.date.accessioned	2014-03-01T02:48:16Z
dc.date.available	2014-03-01T02:48:16Z
dc.date.issued	1994	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/33677
dc.relation.uri	http://www.scopus.com/inward/record.url?eid=2-s2.0-0028745941&partnerID=40&md5=d0686012e5dfd480be236ade4e23c2ef	en
dc.subject.other	Equations of motion	en
dc.subject.other	Integral equations	en
dc.subject.other	Inverse problems	en
dc.subject.other	Joints (structural components)	en
dc.subject.other	Kinematics	en
dc.subject.other	Manipulators	en
dc.subject.other	Motion planning	en
dc.subject.other	Optimization	en
dc.subject.other	Redundancy	en
dc.subject.other	Velocity control	en
dc.subject.other	Hamiltonian principle	en
dc.subject.other	Lagrangian equations	en
dc.subject.other	Redundant robots	en
dc.subject.other	Robots	en
dc.title	Global optimization technique for velocity control of redundant robots	en
heal.type	conferenceItem	en
heal.publicationDate	1994	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)I,dt 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 x = J(q)q of the manipulator holds. But the stationary 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	Computational Mechanics Publ	en
heal.journalName	[No source information available]	en
dc.identifier.spage	219	en
dc.identifier.epage	223	en