Synthesis of optimal trajectory of industrial robots

Michael Valášek

Kybernetika (1986)

  • Volume: 22, Issue: 5, page 409-424
  • ISSN: 0023-5954

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Valášek, Michael. "Synthesis of optimal trajectory of industrial robots." Kybernetika 22.5 (1986): 409-424. <http://eudml.org/doc/27735>.

@article{Valášek1986,
author = {Valášek, Michael},
journal = {Kybernetika},
keywords = {synthesis of robot trajectories; positional control; path tracking control; feedback linearization; suboptimal approximations; energetically optimal trajectories},
language = {eng},
number = {5},
pages = {409-424},
publisher = {Institute of Information Theory and Automation AS CR},
title = {Synthesis of optimal trajectory of industrial robots},
url = {http://eudml.org/doc/27735},
volume = {22},
year = {1986},
}

TY - JOUR
AU - Valášek, Michael
TI - Synthesis of optimal trajectory of industrial robots
JO - Kybernetika
PY - 1986
PB - Institute of Information Theory and Automation AS CR
VL - 22
IS - 5
SP - 409
EP - 424
LA - eng
KW - synthesis of robot trajectories; positional control; path tracking control; feedback linearization; suboptimal approximations; energetically optimal trajectories
UR - http://eudml.org/doc/27735
ER -

References

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  1. J. M. Brady, al., Robot Motion: Planning and Control, MIT Press, Cambridge, Mass. 1983. (1983) 
  2. J. E. Bobrow, S. Dubowsky, On the optimal control of robotic manipulators with actuator constraints, In: Proc. of 1983 American Control Conference. (1983) 
  3. N. Jubeh, Optimal Control of Industrial Robots by the Use of Pontryagin's Maximum Principle, Ph. D. Thesis. Czech Technical University of Prague, Prague 1982. In Czech. (1982) 
  4. V. F. Krotov, V. I. Gurman, Methods and Problems of Optimal Control, Nauka, Moskva 1973. In Russian. (1973) MR0417883
  5. J. Y. S. Luh, An anatomy of industrial robots and their controls, IEEE Trans. Automat. Control 28 (1983), 2, 133-153. (1983) 
  6. J. Y. S. Luh, Conventional controller design for industrial robots - a tutorial, IEEE Trans. Systems Man Cybernet. 13 (1983), 3, 298-316. (1983) Zbl0509.94001
  7. P. Neuman, Optimal Control of Nonlinear Dynamic Systems with Minimum Energy Consumption, Ph. D. Thesis. Czech Technical University of Prague, Prague 1979. In Czech. (1979) 
  8. R. P. Paul, Robot Manipulators: Mathematics, Programming and Control, MIT Press, Cambridge, Mass. 1981. (1981) 
  9. A. P. Sage, C. C. White III, Optimum Systems Control, Prentice Hall Inc., Englewood Cliffs, New Jersey 1977. (1977) 
  10. M. Valášek, The change of dynamic properties of a system by the transformation of input variables, Acta Polytechnica 10, II, 4 (1982), Prague, 159-164. In Czech. (1982) 
  11. M. Valášek, Energetically suboptimal and programme control of industrial robots in real time, Automatizace 26 (1983), 12, 296-300. In Czech. (1983) 
  12. M. Valášek, Synthesis of Optimal Trajectory of an Industrial Robot, Ph. D. Thesis, Czech Technical University of Prague, Prague 1984. In Czech. (1984) 
  13. M. Vukorbratovic, M. Kircanski, A method for optimal synthesis of manipulation robot trajectories, Trans. ASME Ser. G - J. Dynamic Systems Measurement Control 704 (1982), 2, 188-193. (1982) 
  14. E. Polak, Computational Methods in Optimization: A Unified Approach, Academic Press, New York 1971. (1971) MR0282511

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