http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
- 中文 을 입력하시려면 zhongwen을 입력하시고 space를누르시면됩니다.
- 北京 을 입력하시려면 beijing을 입력하시고 space를 누르시면 됩니다.
RISS 인기검색어
- 검색키워드
- 저자 : Shou-Han Zhou (검색결과 1 건)
- 무료
- 기관 내 무료
- 유료
-
Trajectory Redundancy Iterative Learning Control
Shou-Han Zhou,Ying Tan,Bai, Zhao,Denny Oetomo 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10
For tasks which require a robot to track some particular points along a trajectory (instead of the whole trajectory), there exists redundancy. This redundancy results in an increase in the feasibility in the controller design, enabling the possibility of the robot to obtain better performance by satisfying secondary objectives whilst performing the primary objective of tracking the target points. This paper addresses the task redundancy by using point-to-point learning control. It is shown to be an effective tool to accommodate trajectory redundancy since it has the ability to fully explore the increased feasibility resulting from such redundancy. Following the similar idea widely used in kinematic redundancy, a decomposition technique is used. This leads to a simplification of constrained optimization and provides a suboptimal performance in terms of secondary task while the primary task is always achieved. As an example, the formulation is implemented in an on-line fashion to enable a non-redundant robot to track a target point whilst avoiding an obstacle. Simulation results shows good performance from the proposed online algorithms.
연관 검색어 추천
이 검색어로 많이 본 자료
활용도 높은 자료
