Research Initiation: Optimal Trajectory Planning and Control of Robotic Manipulators

本研究的重点是机械手控制技术的改进 性能，以及使操纵器更容易 离线编程 机械手改进的研究课题 性能是：时间最优控制算法的实现， 开发一种控制方案， 振动由于集中参数的灵活性，和发展， 模型参考自适应控制方案 这项研究将改善 操纵器的编程方式。 一个算法将是 为大型运动轨迹规划而开发， 通过工作区的最短时间无碰撞路径， 障碍. 对于每一个主题，将努力确保 这些算法可以用软件和硬件来实现， 先进的电子技术和并行处理技术。 实验测试装置将用于测试算法 只要有可能

This research focuses on manipulator control techniques for improved performance, and a method to enable manipulators to be more easily programmed off-line. The research topics for improving manipulator performance are: implementation of a time-optimal control algorithm, development of a control scheme which will eliminate manipulator vibrations due to lumped-parameter flexibilities, and development of a model-referenced adaptive control scheme. This research will improve the manner in which manipulators are programmed. An algorithm will be developed for large motion trajectory planning which will give the minimum-time, collision-free path through a workspace containing obstacles. For each of these topics, effort will be made to ensure that the algorithms can be implemented in software and hardware using state-of-the-art electronics and parallel processing techniques. Experimental test apparatuses will be used to test the algorithms whenever possible.