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A direct iteration method for global dynamic control of redundant manipulators

  • Weihai Chen
  • Zhen Wu
  • Qixian Zhang
  • Jian Li
  • Luya Li
2 Modification Tasks Knowledge-Based Control Systems
Part of the Lecture Notes in Computer Science book series (LNCS, volume 1416)

Abstract

To solve the difficulties of numerical integral that exist in global optimization of redundant manipulators, this paper discusses how to build up dynamic equation, the inner relation between constraints and unconstraint optimum control problems, then a numerical method solving optimum control problem is deeply analyzed. A directiteration method in solving normal equations by means of bidirectional asynchronous integral has been successfully exploited, so that it can efficiently overcome the difficulty in solving two-point boundary value problems resulting from inverse stability between state equation and co-state equation.

Key words

robotics redundancy dynamics control optimization 

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References

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Copyright information

© Springer-Verlag Berlin Heidelberg 1998

Authors and Affiliations

  • Weihai Chen
    • 1
  • Zhen Wu
    • 1
  • Qixian Zhang
    • 1
  • Jian Li
    • 1
  • Luya Li
    • 1
  1. 1.Institute of Robotics ResearchBeijing University of Aeronautics & AstronauticsBeijingP. R. China

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