Designing robots for optimal performance during repetitive motion

IEEE Transactions on Robotics and Automation

Volumn 14, Issue 5, 1998, Pages 771-777

  Agrawal, Sunil K ^a   Veeraklaew, Tawiwat ^a  

^a UNIVERSITY OF DELAWARE   (United States)

Author keywords

Calculus of variation; Designing robots; Higher order method; Optimization

Indexed keywords

EQUATIONS OF MOTION; MACHINE DESIGN; MOTION PLANNING; OPTIMAL CONTROL SYSTEMS; OPTIMIZATION; VARIATIONAL TECHNIQUES;

HIGHER-ORDER METHODS;

INDUSTRIAL ROBOTS;

EID: 0032188207     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/70.720352     Document Type: Article

References (8)

1. S. K. Agrawal, S. Li, and B. C. Fabien, "Optimal trajectories of openchain mechanical systems: Explicit optimally equation with multiple shooting solution," Mech. Structures Mach., vol. 25, no. 2, pp. 163-177, 1997.
2. S. K. Agrawal and T. Veeraklaew, "A higher-order method for optimization of a class of linear time-invariant dynamic systems," J. Dynam. Syst., Meas., Contr., Trans. ASME, vol. 118, no. 4, pp. 786-791, 1996.
3. C. A. Brebbia, The Boundary Element Method for Engineers. London, U.K.: Pentech, 1978.
4. A. E. Bryson, and Y. C. Ho, Applied Optimal Control. New York: Hemisphere, 1975.
5. P. Claewplodtook, Optimization of a Class of Nonlinear Dynamic Systems without Lagrange Multipliers, M.S. thesis, Mech. Eng. Dept., Ohio Univ., Athens, 1996.
6. C. A. J. Fletcher, Computational Galerkin Methods. New York: Springer-Verlag, 1984.
7. D. E. Kirk, Optimal Control Theory: An Introduction. Prentice-Hall, 1970.
8. M. W. Spong and M. Vidyasagar, Robot Dynamics and Control. New York: Wiley, 1989.