Trajectory generation for manipulators using linear quadratic optimal tracking
نویسندگان
چکیده
منابع مشابه
Trajectory Generation for Mobile Manipulators
Mobile robot navigation has stood as an open and challenging problem over decades. Despite the number of significant results obtained in this field, people still look for better solutions. Some mobile robots are subject to constraints of rolling without slipping and thus belong to non-holonomic systems. Mobile robots also are subject to navigate in environments cluttered with obstacles. Now, in...
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The recently developed stable inversion theory for nonminimum phase nonlinear systems is applied to output tracking for multilink exible robot manipulators. The stable inversion theory and a numerical solution to stable inverses are brie y reviewed. Forward dynamics of a two-link exible manipulatorwith tip position as the output is then given using the assumed modes method. From that, an i...
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Quick trajectory generation for manipulators are a prerequisite for task oriented (i.e. only tell what to do, but not how) manipulator control, because e.g. in order to grasp an object, rst the motion to reach that object must be performed. In addition, for dynamic environments the generation of the trajectory must be done very quick. This can be achieved using a graph based approach. Furthermo...
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ژورنال
عنوان ژورنال: Modeling, Identification and Control: A Norwegian Research Bulletin
سال: 1989
ISSN: 0332-7353,1890-1328
DOI: 10.4173/mic.1989.2.5