Bio-inspirisano upravljanje redundantnog robotskog sistema - optimizacioni pristup
Bio-inspirirovannoe upravlenie izbytočnoj robototehničeskoj sistemy: optimizacionnyj podhod / (francuski) Le contrôle bio inspiré du système robotique redondant: approche d'optimisation
Abstract
Osnovni cilj ovog rada je da promoviše pristup biološki inspirisanog sinergijskog upravljanja koji omogućava da se razreši redundansa datog robotizovanog sistema koji se može koristiti i za vojne svrhe. Pokazano je da je moguće razrešiti kinematički redundansu primenom metode lokalne optimizacije i bioloških analogona - sinergijsko upravljački pristup sa uvođenjem logičkog upravljanja i distribuiranog pozicioniranja. Takođe, mogućnost prebacivanja između sinegrija u okviru jedne trajektorije je razmatrano. Na kraju, problem aktuatorske redundanse je postavljen i rešen primenom Pontrjaginovog principa maksimuma. Upravljačka sinergija je ustanovljena primenom postupka optimizacije na koordinacionom nivou. Na kraju, efikasnost predložene biološki inspirisane optimalne upravljačke sinergije je demonstriran na pogodno usvojenom robotskom sistemu sa tri stepena slobode i četiri upravljačke promenljive, kao ilustrativnog primera.
The major aim of this paper is to promote a biologically inspired control synergy approach that allows the resolution of redundancy of a given robotized system which can be used for military purposes. It is shown that it is possible to resolve kinematic redundancy using the local optimization method and biological analogues - control synergy approach, introducing hypothetical control and distributed positioning. Also, the possibility of switching synergies within a single trajectory is treated, where the control synergy approach applying logical control is used. The actuator redundancy control problem has been stated and solved using Pontryagin's maximum principle. Control synergy as a class of dynamic synergy is established by the optimization law at the coordination level. Finally, the effectiveness of the suggested biologically inspired optimal control synergy is demonstrated with a suitable robot with three degrees of freedom and four control variables, as an illustrative example. ....
Keywords:
sinergija / robotika / redundantni sistem / redundansa / optimalno upravljanje / metoda optimizacije / biomehanika / synergy / robotics / redundant system / redundancy / optimization method / optimal control / biomechanicsSource:
Scientific Technical Review, 2012, 62, 3-4, 45-54Publisher:
- Vojnotehnički institut, Beograd
Funding / projects:
- Development of methods and techniques for early diagnostic of cervical, colon, oral cavity cancer and melanoma based on a digital image and excitation-emission spectrum in visible and infrared domain (RS-MESTD-Integrated and Interdisciplinary Research (IIR or III)-41006)
- Sustainability and improvement of mechanical systems in energetic, material handling and conveying by using forensic engineering, environmental and robust design (RS-MESTD-Technological Development (TD or TR)-35006)
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Institution/Community
Mašinski fakultetTY - JOUR AU - Lazarević, Mihailo AU - Obradović, Aleksandar AU - Latinović, Tihomir PY - 2012 UR - https://machinery.mas.bg.ac.rs/handle/123456789/1424 AB - Osnovni cilj ovog rada je da promoviše pristup biološki inspirisanog sinergijskog upravljanja koji omogućava da se razreši redundansa datog robotizovanog sistema koji se može koristiti i za vojne svrhe. Pokazano je da je moguće razrešiti kinematički redundansu primenom metode lokalne optimizacije i bioloških analogona - sinergijsko upravljački pristup sa uvođenjem logičkog upravljanja i distribuiranog pozicioniranja. Takođe, mogućnost prebacivanja između sinegrija u okviru jedne trajektorije je razmatrano. Na kraju, problem aktuatorske redundanse je postavljen i rešen primenom Pontrjaginovog principa maksimuma. Upravljačka sinergija je ustanovljena primenom postupka optimizacije na koordinacionom nivou. Na kraju, efikasnost predložene biološki inspirisane optimalne upravljačke sinergije je demonstriran na pogodno usvojenom robotskom sistemu sa tri stepena slobode i četiri upravljačke promenljive, kao ilustrativnog primera. AB - The major aim of this paper is to promote a biologically inspired control synergy approach that allows the resolution of redundancy of a given robotized system which can be used for military purposes. It is shown that it is possible to resolve kinematic redundancy using the local optimization method and biological analogues - control synergy approach, introducing hypothetical control and distributed positioning. Also, the possibility of switching synergies within a single trajectory is treated, where the control synergy approach applying logical control is used. The actuator redundancy control problem has been stated and solved using Pontryagin's maximum principle. Control synergy as a class of dynamic synergy is established by the optimization law at the coordination level. Finally, the effectiveness of the suggested biologically inspired optimal control synergy is demonstrated with a suitable robot with three degrees of freedom and four control variables, as an illustrative example. . PB - Vojnotehnički institut, Beograd T2 - Scientific Technical Review T1 - Bio-inspirisano upravljanje redundantnog robotskog sistema - optimizacioni pristup T1 - Bio-inspirirovannoe upravlenie izbytočnoj robototehničeskoj sistemy: optimizacionnyj podhod / (francuski) Le contrôle bio inspiré du système robotique redondant: approche d'optimisation T1 - Bio-inspired control of redundant robotic systems: Optimization approach EP - 54 IS - 3-4 SP - 45 VL - 62 UR - https://hdl.handle.net/21.15107/rcub_machinery_1424 ER -
@article{ author = "Lazarević, Mihailo and Obradović, Aleksandar and Latinović, Tihomir", year = "2012", abstract = "Osnovni cilj ovog rada je da promoviše pristup biološki inspirisanog sinergijskog upravljanja koji omogućava da se razreši redundansa datog robotizovanog sistema koji se može koristiti i za vojne svrhe. Pokazano je da je moguće razrešiti kinematički redundansu primenom metode lokalne optimizacije i bioloških analogona - sinergijsko upravljački pristup sa uvođenjem logičkog upravljanja i distribuiranog pozicioniranja. Takođe, mogućnost prebacivanja između sinegrija u okviru jedne trajektorije je razmatrano. Na kraju, problem aktuatorske redundanse je postavljen i rešen primenom Pontrjaginovog principa maksimuma. Upravljačka sinergija je ustanovljena primenom postupka optimizacije na koordinacionom nivou. Na kraju, efikasnost predložene biološki inspirisane optimalne upravljačke sinergije je demonstriran na pogodno usvojenom robotskom sistemu sa tri stepena slobode i četiri upravljačke promenljive, kao ilustrativnog primera., The major aim of this paper is to promote a biologically inspired control synergy approach that allows the resolution of redundancy of a given robotized system which can be used for military purposes. It is shown that it is possible to resolve kinematic redundancy using the local optimization method and biological analogues - control synergy approach, introducing hypothetical control and distributed positioning. Also, the possibility of switching synergies within a single trajectory is treated, where the control synergy approach applying logical control is used. The actuator redundancy control problem has been stated and solved using Pontryagin's maximum principle. Control synergy as a class of dynamic synergy is established by the optimization law at the coordination level. Finally, the effectiveness of the suggested biologically inspired optimal control synergy is demonstrated with a suitable robot with three degrees of freedom and four control variables, as an illustrative example. .", publisher = "Vojnotehnički institut, Beograd", journal = "Scientific Technical Review", title = "Bio-inspirisano upravljanje redundantnog robotskog sistema - optimizacioni pristup, Bio-inspirirovannoe upravlenie izbytočnoj robototehničeskoj sistemy: optimizacionnyj podhod / (francuski) Le contrôle bio inspiré du système robotique redondant: approche d'optimisation, Bio-inspired control of redundant robotic systems: Optimization approach", pages = "54-45", number = "3-4", volume = "62", url = "https://hdl.handle.net/21.15107/rcub_machinery_1424" }
Lazarević, M., Obradović, A.,& Latinović, T.. (2012). Bio-inspirisano upravljanje redundantnog robotskog sistema - optimizacioni pristup. in Scientific Technical Review Vojnotehnički institut, Beograd., 62(3-4), 45-54. https://hdl.handle.net/21.15107/rcub_machinery_1424
Lazarević M, Obradović A, Latinović T. Bio-inspirisano upravljanje redundantnog robotskog sistema - optimizacioni pristup. in Scientific Technical Review. 2012;62(3-4):45-54. https://hdl.handle.net/21.15107/rcub_machinery_1424 .
Lazarević, Mihailo, Obradović, Aleksandar, Latinović, Tihomir, "Bio-inspirisano upravljanje redundantnog robotskog sistema - optimizacioni pristup" in Scientific Technical Review, 62, no. 3-4 (2012):45-54, https://hdl.handle.net/21.15107/rcub_machinery_1424 .