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Optimal control of multiple-arm robotic systems using gradient method

Babazadeh, A ; Sharif University of Technology | 2004

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  1. Type of Document: Article
  2. Publisher: 2004
  3. Abstract:
  4. Optimal control frameworks are very important in optimization of multiple-arm robotic systems, although complexity, non-linearity and having large scales usually cause some computational problems in the capacity and time needed. In this paper, coordination of multiple-arm robotic systems in order to carry a rigid object is considered and the state space equations for the overall system are developed. Coordination of the robot arms is done through minimizing a related cost function based on the gradient method. This method is simple and easy to be used
  5. Keywords:
  6. Orbital robotics ; Robot control ; Arm ; Manipulators ; Master-slave ; Robotic assembly ; Gradient methods ; Robot kinematics ; Force control
  7. Source: 2004 IEEE Conference on Robotics, Automation and Mechatronics, 1 December 2004 through 3 December 2004 ; 2004 , Pages 312-317 ; 0780386469 (ISBN); 9780780386464 (ISBN)
  8. URL: https://ieeexplore.ieee.org/abstract/document/1438937