Mathematical programming formulation and optimum design of robot control system

DOI10.1016/S0307-904X(96)00093-5MaRDI QIDQ1364538zbMATH OpenFDO

Authors Nand K. Jha, Jha Prabhudutt

Publication date 1 February 1998

Published in Applied Mathematical Modelling (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/S0307-904X(96)00093-5

zbMATH Keywords

control system designgeometric programmingrobot

Mathematics Subject Classification ID

Nonlinear programming (90C30) Design techniques (robust design, computer-aided design, etc.) (93B51) Automated systems (robots, etc.) in control theory (93C85)

Review text

A control system design of a robot is formulated as an optimal control problem. Geometric programming is used to design the control system parameters iteratively. The objective is to minimise an error subject to stability and torque constraints.

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Cites work

• A dynamic programming approach to trajectory planning of robotic manipulators
• A Mathematical Model of Hand Transfer Motion for Application to Manipulator Control
• An algorithm for optimization problems with functional inequality constraints
• An Approximation Theory of Optimal Control for Trainable Manipulators
• Multivariable PID Controller for Unidentified Plant
• Optimizing the number of tools and cutting parameters in multi-tool turning for multiple objectives through geometric programming
• Optimum Design of Control System Compensators By Geometric Programming
• Unified theory of automation in process planning utilizing multiobjectives under real world constraints

Cited in

(1)

• Optimality in robot design and control

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