“Learning Control of Redundant DOF Robots by Optimization of Parameterized Control Space”
Authors: Erling Lunde and Jens G. Balchen,Affiliation: NTNU, Department of Engineering Cybernetics
Reference: 1988, Vol 9, No 4, pp. 207-222.
Keywords: Robots, learning control, kinematically redundant manipulators
Abstract: A framework for the learning control of robots based on a parameterized control space is doscussed. Emphasis is put on how to utilize stored motion knowledge. The principles are applied to an example of redundancy resolution for a simple manipulator. Global sub-optimal solutions for feedforward control are achieved using a simple optimization algorithm. A time-integral performance criterion is used.
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DOI: 10.4173/mic.1988.4.4DOI forward links to this article:
| [1] Erling Lunde and Jens G. Balchen (1990), doi:10.4173/mic.1990.2.4 |
| [2] E. Lunde and J.G. Balchen (1990), doi:10.1109/IMC.1990.687309 |
| [3] E. Lunde and J.G. Balchen (1990), doi:10.1109/ROBOT.1990.126222 |
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BibTeX:
@article{MIC-1988-4-4,
title={{Learning Control of Redundant DOF Robots by Optimization of Parameterized Control Space}},
author={Lunde, Erling and Balchen, Jens G.},
journal={Modeling, Identification and Control},
volume={9},
number={4},
pages={207--222},
year={1988},
doi={10.4173/mic.1988.4.4},
publisher={Norwegian Society of Automatic Control}
};