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Titel:

Toward coordinated planning and hierarchical optimization control for highly redundant mobile manipulator

Dokumenttyp:
Zeitschriftenaufsatz
Autor(en):
Sayar, Erdi; Gao, Xiang; Hu, Yingbai; Chen, Guang; Knoll, Alois
Abstract:
This paper represents a constraint planning and optimization control scheme for a highly redundant mobile manipulator considering a complex indoor environment. Compared with the traditional optimization solution of a redundant manipulator, infinity norm and slack variable are additionally introduced and leveraged by the optimization algorithm. The former takes into account the joint limits effectively by considering individual joint velocities and the latter relaxes the equality constraint by de...     »
Stichworte:
Robot control, Optimization, Mobile manipulator, Neural networks
Zeitschriftentitel:
ISA Transactions
Jahr:
2024
Band / Volume:
146
Seitenangaben Beitrag:
16-28
Volltext / DOI:
doi:https://doi.org/10.1016/j.isatra.2024.01.007
WWW:
https://www.sciencedirect.com/science/article/pii/S0019057824000168
Print-ISSN:
0019-0578
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