Trajectory planning for robot arm positioning
| dc.contributor.advisor | Pearson, J. B. | |
| dc.contributor.committeeMember | Figueiredo, Rui J. P. de | |
| dc.contributor.committeeMember | Burrus, C. S. | |
| dc.contributor.committeeMember | Kohn, Wolf | |
| dc.creator | Datta, Subroto | |
| dc.date.accessioned | 2018-12-18T21:21:10Z | |
| dc.date.available | 2018-12-18T21:21:10Z | |
| dc.date.issued | 1985 | |
| 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.digitalOrigin | reformatted digital | |
| dc.format.extent | 117 pp | |
| 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. <a href="https://hdl.handle.net/1911/104336">https://hdl.handle.net/1911/104336</a>. | |
| dc.identifier.digital | RICE1968 | |
| dc.identifier.uri | https://hdl.handle.net/1911/104336 | |
| dc.language.iso | eng | |
| dc.rights | Copyright 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. | |
| dc.title | Trajectory planning for robot arm positioning | |
| dc.type | 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 |
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