Trajectory tracking control of a 6-degree-of-freedom robot arm using nonlinear optimization

International Workshop on Advanced Motion Control, AMC

Volumn 1, Issue , 2008, Pages 655-660

  Lombai, Ferenc ^a   Szederkényi, Gábor ^a,b  

^a PÁZMÁNY PÉTER CATHOLIC UNIVERSITY   (Hungary)

^b INSTITUTE OF EXPERIMENTAL MEDICINE   (Hungary)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTING ENVIRONMENTS; CONSTRAINED NONLINEAR OPTIMIZATION; CURRENT CONSUMPTION; DISCRETE-TIME; LINEAR CONTROLLERS; MATHEMATICA; NON-LINEAR OPTIMIZATION; ORIENTED BOUNDING BOX; RIGID ROBOTS; ROBOT ARMS; SEPARATING AXIS THEOREM; SIMULATIONS AND MEASUREMENTS; THIRD-ORDER; TRAJECTORY TRACKING; TRAJECTORY TRACKING CONTROL;

CONSTRAINED OPTIMIZATION; CONTROLLERS; INVERSE KINEMATICS; LINEAR CONTROL SYSTEMS; MOTION CONTROL; MOTION PLANNING; NAVIGATION; ROBOTIC ARMS; TECHNICAL PRESENTATIONS;

TRAJECTORIES;

EID: 68249102706     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/AMC.2008.4516144     Document Type: Conference Paper

References (14)

1. L. Sciavicco and B. Siciliano. Modelling and Control of Robot Manipulators, 2nd Edition. Springer-Verlag, 2000.
2. Mark W. Spong. Robot Dynamics and Control. John Wiley & Sons, Inc., New York, NY, USA, 1989.
3. S.M. LaValle. Planning Algorithms. Cambridge University Press, 2006.
4. Steven Rodenbaugh and David E. Orin. Robotbuilder. http://www.ece.osu. edu/orin/robotbuilder/robotbuilder.html.
5. R. Gourdeau. ROBOOP. A Robotics Object Oriented Package in C++. Documentation. Ecole Polytechnique de Montreal, 2007.
6. A. Gasparetto and V. Zanotto. A technique for time-jerk optimal planning of robot trajectories. Robotics and Computer-Integrated Manufacturing, in press:doi:10.1016/j.rcim.2007.04.001, 2007.
7. C Smith and H.I. Christensen. Using cots to construct a high performance robot arm. In 2007 IEEE International Conference on Robotics and Automation, pages 4056-4063, Rome, Italy, 2007.
8. John J. Craig. Introduction to robotics: mechanhics and control. Pearson Prentice Hall, Berlin, Germany, third edition, 2005.
9. Martin Pfurner Manfred L. Husty and Hans-Peter Schröcker. A new and efficient algorithm for the inverse kinematics of a general serial 6r manipulator. Mechanism and Machine Theory, 42:66-81, 2007.
10. L Yang, H. Fu, and Z. Zeng. A practical symbolic algorithm for the inverse kinematics of 6r manipulators with simple geometry. Lecture Notes in Computer Science, 1249:73-86, 1997.
11. P.I. Corke. An automated symbolic and numeric procedure for manipulator rigid-body dynamic significance analysis and simplification. In 1996 IEEE International Conference on Robotics and Automation, pages 1018-1023, Minneapolis, USA, 1996.
12. Akihiko Matsushita and Takeshi Tsuchiya. Control system design with on-line planning for a desired signal and its application to robot manipulators. 3(2):149-152, June 1998.
13. S. Gottschalk, M. C. Lin, and D. Manocha. OBBTree: A hierarchical structure for rapid interference detection. Computer Graphics, 30(Annual Conference Series):171-180, 1996.
14. K.J. Astrom and B. Wittenmark. Computer Controlled Systems: Theory and Design. Prentice Hall, 1984.