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A new approach for optimal control of multiple- Arm robotic systems

Sadati, N ; Sharif University of Technology | 2005

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  1. Type of Document: Article
  2. DOI: 10.3182/20050703-6-cz-1902.01322
  3. Publisher: IFAC Secretariat , 2005
  4. Abstract:
  5. 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, it is shown how by conducting the study of multiple-arm robotic systems, within a decomposition-coordination framework, the overall optimum can be achieved in only a few iterations. By using this methodology, the overall problem is considered as optimization of a two-level large-scale system. So with the aim of optimization, the problem is first decomposed into m sub-problems at the first level, where each sub-problem is solved using a typical gradient optimization method. Then by using the proposed methodology, which is based on the gradient of the interaction prediction errors, at the second level, the coordination of the overall system is done. Copyright © 2005 IFAC
  6. Keywords:
  7. Robotics ; Computational problem ; Coordination ; Decomposition coordination ; Interaction prediction ; Interaction prediction principles ; Optimal control frameworks ; Optimal controls ; Robotic systems ; Large scale systems
  8. Source: IFAC Proceedings Volumes (IFAC-PapersOnline) ; Volume 16 , 2005 , Pages 313-318 ; 14746670 (ISSN); 008045108X (ISBN); 9780080451084 (ISBN)
  9. URL: https://www.sciencedirect.com/science/article/pii/S1474667016373347?via%3Dihub