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International Conference on Industrial, Engineering and Other Applications of Applied Intelligent Systems

IEA/AIE 1998: Tasks and Methods in Applied Artificial Intelligence pp 183–191Cite as

A direct iteration method for global dynamic control of redundant manipulators

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Part of the book series: Lecture Notes in Computer Science ((LNAI,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.

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References

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Author information

Authors and Affiliations

  1. Institute of Robotics Research, Beijing University of Aeronautics & Astronautics, 100083, Beijing, P. R. China

    Weihai Chen, Zhen Wu, Qixian Zhang, Jian Li & Luya Li

Authors
  1. Weihai Chen
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  2. Zhen Wu
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  3. Qixian Zhang
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  4. Jian Li
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  5. Luya Li
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Editor information

Angel Pasqual del Pobil José Mira Moonis Ali

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© 1998 Springer-Verlag Berlin Heidelberg

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Chen, W., Wu, Z., Zhang, Q., Li, J., Li, L. (1998). A direct iteration method for global dynamic control of redundant manipulators. In: Pasqual del Pobil, A., Mira, J., Ali, M. (eds) Tasks and Methods in Applied Artificial Intelligence. IEA/AIE 1998. Lecture Notes in Computer Science, vol 1416. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-64574-8_404

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  • DOI: https://doi.org/10.1007/3-540-64574-8_404

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-64574-0

  • Online ISBN: 978-3-540-69350-5

  • eBook Packages: Springer Book Archive

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