Biologically inspired optimal control of robotic system:synergy approach
Само за регистроване кориснике
2009
Конференцијски прилог (Објављена верзија)
Метаподаци
Приказ свих података о документуАпстракт
This paper suggests a new optimal control of robotic system based on a biologically inspired control principle-synergy, which allows resolving actuator redundancy. The redundancy control problem has been discussed in the framework of optimal control problem which is solved by Pontryagin's maximum principle. Joint actuator synergy approach is suggested which is established by optimization law at coordination level, where is introduced a central control as suggested Bernstein in [1]. In that way, one may obtain a specific constraint(s) on the control variables. Finally, the effectiveness of suggested biologically inspired optimal control is demonstrated with a suitable robot with three degrees of freedom and four control variables as the illustrative example.
Кључне речи:
synergy / robot / optimal control / biorobotics / actuator redundancyИзвор:
Med: 2009 17th Mediterranean Conference on Control & Automation, Vols 1-3, 2009, 958-963Издавач:
- IEEE, New York
Финансирање / пројекти:
- Развој биолошких мотивисаних контролних и сензорских система и израда студијског прототипа ножног помагала (RS-MESTD-MPN2006-2010-20152)
Колекције
Институција/група
Mašinski fakultetTY - CONF AU - Lazarević, Mihailo AU - Obradović, Aleksandar AU - Joka, Marko AU - Bacanović, Ljubiša PY - 2009 UR - https://machinery.mas.bg.ac.rs/handle/123456789/956 AB - This paper suggests a new optimal control of robotic system based on a biologically inspired control principle-synergy, which allows resolving actuator redundancy. The redundancy control problem has been discussed in the framework of optimal control problem which is solved by Pontryagin's maximum principle. Joint actuator synergy approach is suggested which is established by optimization law at coordination level, where is introduced a central control as suggested Bernstein in [1]. In that way, one may obtain a specific constraint(s) on the control variables. Finally, the effectiveness of suggested biologically inspired optimal control is demonstrated with a suitable robot with three degrees of freedom and four control variables as the illustrative example. PB - IEEE, New York C3 - Med: 2009 17th Mediterranean Conference on Control & Automation, Vols 1-3 T1 - Biologically inspired optimal control of robotic system:synergy approach EP - 963 SP - 958 DO - 10.1109/MED.2009.5164669 ER -
@conference{ author = "Lazarević, Mihailo and Obradović, Aleksandar and Joka, Marko and Bacanović, Ljubiša", year = "2009", abstract = "This paper suggests a new optimal control of robotic system based on a biologically inspired control principle-synergy, which allows resolving actuator redundancy. The redundancy control problem has been discussed in the framework of optimal control problem which is solved by Pontryagin's maximum principle. Joint actuator synergy approach is suggested which is established by optimization law at coordination level, where is introduced a central control as suggested Bernstein in [1]. In that way, one may obtain a specific constraint(s) on the control variables. Finally, the effectiveness of suggested biologically inspired optimal control is demonstrated with a suitable robot with three degrees of freedom and four control variables as the illustrative example.", publisher = "IEEE, New York", journal = "Med: 2009 17th Mediterranean Conference on Control & Automation, Vols 1-3", title = "Biologically inspired optimal control of robotic system:synergy approach", pages = "963-958", doi = "10.1109/MED.2009.5164669" }
Lazarević, M., Obradović, A., Joka, M.,& Bacanović, L.. (2009). Biologically inspired optimal control of robotic system:synergy approach. in Med: 2009 17th Mediterranean Conference on Control & Automation, Vols 1-3 IEEE, New York., 958-963. https://doi.org/10.1109/MED.2009.5164669
Lazarević M, Obradović A, Joka M, Bacanović L. Biologically inspired optimal control of robotic system:synergy approach. in Med: 2009 17th Mediterranean Conference on Control & Automation, Vols 1-3. 2009;:958-963. doi:10.1109/MED.2009.5164669 .
Lazarević, Mihailo, Obradović, Aleksandar, Joka, Marko, Bacanović, Ljubiša, "Biologically inspired optimal control of robotic system:synergy approach" in Med: 2009 17th Mediterranean Conference on Control & Automation, Vols 1-3 (2009):958-963, https://doi.org/10.1109/MED.2009.5164669 . .