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Control and Parameter Optimization of the Two-Link Manipulator with both Active and Semi-Passive Actuators

Viktor Berbyuk (Institutionen för maskin- och fordonssystem, Mekaniska system) ; Myroslav Demydyuk ; Maria Shyrko
Proceedings of the VI International Conference “Mathematical Problems of Mechanics of Non-homogeneous Structures”, (Ed. H.S. Kit), May 26-29, 2003, Lviv, Ukraine, National Academy of Sciences of Ukraine, 2003, p. 416-417. (2003)
[Konferensbidrag, refereegranskat]

Optimal control problem of the plane double-link manipulation system with both active and semi-passive (spring-dampher) actuators was considered. The approach based on converting the optimal control problem into the nonlinear conditional minimization problem was proposed. The results obtained using different performance indexes were compared. The effectiveness of the proposed algorithm was illustrated by the solution of the energy-optimal control problem for the double-link manipulator on the cyclic working tasks.

Denna post skapades 2006-09-25. Senast ändrad 2015-12-17.
CPL Pubid: 9820


Institutioner (Chalmers)

Institutionen för maskin- och fordonssystem, Mekaniska system (1900-2004)


Övrig teknisk mekanik

Chalmers infrastruktur