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dc.contributor.advisor Pearson, J. B.
dc.creatorDatta, Subroto
dc.date.accessioned 2018-12-18T21:21:10Z
dc.date.available 2018-12-18T21:21:10Z
dc.date.issued 1985
dc.identifier.urihttps://hdl.handle.net/1911/104336
dc.description.abstract This thesis deals with the sub-optimal control of robots. Keeping in mind the current applications of robots in industry we propose a control scheme which minimizes a time-energy cost criterion. The control problem is solved for a piecewise linear model which is sufficiently close in a norm sense to the highly non-linear robot. A solution is obtained by splitting the control problem into two sub-problems. i) A trajectory planning problem which is solved off-line and is termed the NODES problem. The nodes problem primarily obtains the average force history. ii) A feedback controller problem which moves the robot between the successive nodes in real time and is termed the LOCAL problem. The nodes problem is solved using monotonicity ideas arising from dynamic programming and an iterative algorithm is presented for its solution. Numerical issues in the implementation of the algorithm are discussed. The local problem is solved by a modification of a recent paper on minimum time-fuel control.
dc.format.extent 117 pp
dc.language.iso eng
dc.title Trajectory planning for robot arm positioning
dc.identifier.digital RICE1968
dc.contributor.committeeMember Figueiredo, Rui J. P. de;Burrus, C. S.;Kohn, Wolf
dc.type.genre Thesis
dc.type.material Text
thesis.degree.department Electrical Engineering
thesis.degree.discipline Engineering
thesis.degree.grantor Rice University
thesis.degree.level Masters
thesis.degree.name Master of Science
dc.format.digitalOrigin reformatted digital
dc.identifier.callno THESIS E.E. 1985 DATTA
dc.identifier.citation Datta, Subroto. "Trajectory planning for robot arm positioning." (1985) Master’s Thesis, Rice University. https://hdl.handle.net/1911/104336.


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