On Line Optimal Control of Robots for Tracking without Inverse Kinematics

Computación y Sistemas

David Muro Maldonado¹  Carlos. A. Cruz Villar¹  Alejandro Rodríguez Ángeles¹ 

关键词: Gradient flow;    direct kinematics;    sensitivities;    Cartesian control.;   

DOI  :  

学科分类：电子、光学、磁材料

来源: Instituto Politecnico Nacional * Centro de Investigacion en Computacion

【 摘 要 】

This article presents a novel on-line optimal control for tracking tasks on robot manipulators for which inverse kinematics is not required. The controller i...

【 授权许可】

Unknown