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A new hierarchical approach for optimal control of robot manipulators
Sadati, N ; Sharif University of Technology | 2004
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- Type of Document: Article
- Publisher: 2004
- Abstract:
- In this paper, a new approach for optimal control of robot manipulators is presented. For this purpose, the system is considered as a two-level large-scale system where a gradient based coordination strategy is used to coordinate the overall system. This is achieved within a decomposition-coordination framework, where the robot manipulator is first decomposed into several sub-systems in such a way that each sub-system consists of several consecutive links and joints. With the aim of optimization, the control problem is first decomposed into m sub-problems, at the first level, where each sub-problem is solved using a gradient optimization method. Then, by using a new methodology which is based on the gradient of interaction prediction errors, at the second level, the coordination of the overall large-scale system is done. This approach provides a new scheme for hierarchical control of robot manipulators with high degree of freedom and the results fairly illustrate the effectiveness of the proposed coordination strategy
- Keywords:
- Optimal control ; Robot control ; Laboratories ; Intelligent systems ; Control systems ; Optimization methods ; Intelligent robots ; Large-scale systems ; Robot kinematics ; Manipulators
- Source: 2004 IEEE Conference on Robotics, Automation and Mechatronics, 1 December 2004 through 3 December 2004 ; 2004 , Pages 306-311 ; 0780386469 (ISBN); 9780780386464 (ISBN)
- URL: https://ieeexplore.ieee.org/document/1438936