AN APPROACH TO THE GLOBAL OPTIMAL CONTROL OF REDUNDANT ROBOTS

TANG Shiming, ZHANG Qixian. AN APPROACH TO THE GLOBAL OPTIMAL CONTROL OF REDUNDANT ROBOTS[J]. ROBOT, 1999, 21(2): 81-85.

Citation:

TANG Shiming, ZHANG Qixian. AN APPROACH TO THE GLOBAL OPTIMAL CONTROL OF REDUNDANT ROBOTS[J]. ROBOT, 1999, 21(2): 81-85.

Citation:

TANG Shiming, ZHANG Qixian. AN APPROACH TO THE GLOBAL OPTIMAL CONTROL OF REDUNDANT ROBOTS[J]. ROBOT, 1999, 21(2): 81-85.

Abstract

This paper describes a new method of the global optimal control for redundant robots. In this paper a simple functional extreme model of global optimal control for redundant robots is established by using the self-motion parameters. Then an efficient algorithm is deduced, the effectiveness of which is shown by simulations.

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