Controlling robot manipulators by dynamic programming |
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Authors: | Marc J Richard Li Cheng |
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Institution: | (1) Department of Mechanical Engineering, Université Laval, G1K 7P4 Ste-Foy, Québec, Canada |
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Abstract: | A certain number of considerations should be taken into account in the dynamic control of robot manipulators as highly complex
non-linear systems. In this article, we provide a detailed presentation of the mechanical and electrical implications of robots
equipped with DC motor actuators. This model takes into account all non-linear aspects of the system. Then, we develop computational
algorithms for optimal control based on dynamic programming. The robot's trajectory must be predefined, but performance criteria
and constraints applying to the system are not limited and we may adapt them freely to the robot and the task being studied.
As an example, a manipulator arm with 3 degress of freedom is analyzed. |
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Keywords: | dynamic programming robot manipulators optimal control dynamic modelling method |
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