Trajectory planning for robot arm positioning

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dc.contributor.advisorPearson, J. B.en_US
dc.contributor.committeeMemberFigueiredo, Rui J. P. deen_US
dc.contributor.committeeMemberBurrus, C. S.en_US
dc.contributor.committeeMemberKohn, Wolfen_US
dc.creatorDatta, Subrotoen_US
dc.date.accessioned2018-12-18T21:21:10Zen_US
dc.date.available2018-12-18T21:21:10Zen_US
dc.date.issued1985en_US
dc.description.abstractThis 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.en_US
dc.format.digitalOriginreformatted digitalen_US
dc.format.extent117 ppen_US
dc.identifier.callnoTHESIS E.E. 1985 DATTAen_US
dc.identifier.citationDatta, Subroto. "Trajectory planning for robot arm positioning." (1985) Master’s Thesis, Rice University. <a href="https://hdl.handle.net/1911/104336">https://hdl.handle.net/1911/104336</a>.en_US
dc.identifier.digitalRICE1968en_US
dc.identifier.urihttps://hdl.handle.net/1911/104336en_US
dc.language.isoengen_US
dc.rightsCopyright is held by the author, unless otherwise indicated. Permission to reuse, publish, or reproduce the work beyond the bounds of fair use or other exemptions to copyright law must be obtained from the copyright holder.en_US
dc.titleTrajectory planning for robot arm positioningen_US
dc.typeThesisen_US
dc.type.materialTexten_US
thesis.degree.departmentElectrical Engineeringen_US
thesis.degree.disciplineEngineeringen_US
thesis.degree.grantorRice Universityen_US
thesis.degree.levelMastersen_US
thesis.degree.nameMaster of Scienceen_US
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