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Content Provider | IEEE Xplore Digital Library |
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Author | Wilson, D.G. Robinett III, R.D. Eisler, G.R. |
Copyright Year | 2004 |
Description | Author affiliation: Dept. of Intelligent Syst. & Robotics Center, Sandia Nat. Labs., Albuquerque, NM, USA (Wilson, D.G.; Robinett, R.D., III; Eisler, G.R.) |
Abstract | An optimized path-planning approach is presented for flexible dynamic systems. Feedforward command profiles are determined for rest-to-rest large angle maneuvers that keep vibrations to a minimum. The performance index included both minimum energy and minimum time optimization problems. The feedfoward command profiles were generated by solving a discrete-time optimal control problem via discrete dynamic programming (DDP). A simple planar two-link flexible robot arm was utilized to demonstrate the DDP path-planning scheme. Numerical simulation results included: 1) minimum effort, 2) minimum effort with bounds, 3) minimum time, and 4) minimum torque-rate or power, respectively. The DDP approach demonstrated an effective alternative for numerical optimization, to generate optimal feedforward trajectory profiles. |
Starting Page | 2918 |
Ending Page | 2923 |
File Size | 400573 |
Page Count | 6 |
File Format | |
ISBN | 0780384636 |
DOI | 10.1109/IROS.2004.1389852 |
Language | English |
Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Publisher Date | 2004-09-28 |
Publisher Place | Japan |
Access Restriction | Subscribed |
Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Subject Keyword | Dynamic programming Path planning Orbital robotics Robotics and automation Service robots Optimal control Intelligent robots Numerical simulation Manipulators Costs |
Content Type | Text |
Resource Type | Article |
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