Least-energy path planning and oscillation analysis of robotic manipulator using direct collocation with nonlinear programming
| Autor: | Ming-yu Fitz Su, Jyun-jye Felipe Chen |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
021110 strategic
defence & security studies 0209 industrial biotechnology State variable Collocation Oscillation Computer science 0211 other engineering and technologies General Engineering Robot manipulator 02 engineering and technology Optimal control Nonlinear programming 020901 industrial engineering & automation Control theory Motion planning Energy (signal processing) |
| Zdroj: | Journal of the Chinese Institute of Engineers. 41:512-522 |
| ISSN: | 2158-7299 0253-3839 |
| DOI: | 10.1080/02533839.2018.1498021 |
| Popis: | Direct collocation is a method that converts a two-point boundary-value problem into a nonlinear programming problem by approximating the state variables and controls into parameters. It has been b... |
| Databáze: | OpenAIRE |
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