Chen, Yao-Chon ; Vidyasagar, Mathukumalli (1990) Optimal control of robotic manipulators in the presence of obstacles Journal of Robotic Systems, 7 (5). pp. 721-740. ISSN 0741-2223
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Official URL: http://onlinelibrary.wiley.com/doi/10.1002/rob.462...
Related URL: http://dx.doi.org/10.1002/rob.4620070505
Abstract
In this article, the optimal control problem for (rigid) robotic manipulators in the presence of obstacles is considered. First, two methods for the modeling of obstacles are considered. Through these methods, closed-form approximations of obstacles in terms of the generalized coordinates of the manipulator are obtained. These expressions are then used to formulate an optimal control problem with state space constraints. The resulting optimal control problem is then solved numerically.
| Item Type: | Article |
|---|---|
| Source: | Copyright of this article belongs to John Wiley and Sons. |
| ID Code: | 56908 |
| Deposited On: | 25 Aug 2011 09:32 |
| Last Modified: | 25 Aug 2011 09:32 |
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