Produção Nacional
Optimal Robust Control of Underactuated Manipulators via Actuation Redundancy
2003; Wiley; Volume: 20; Issue: 11 Linguagem: Inglês
10.1002/rob.10113
ISSN1097-4563
AutoresBenedito Carlos Maciel, Marco H. Terra, Marcel Bergerman,
Tópico(s)Hydraulic and Pneumatic Systems
ResumoAbstract In this article we focus on post‐failure control of a mechanical manipulator from the point of view of optimal control, and present a novel method for controlling the positions of the failed, passive joints in an optimal way. It used the so‐called coupling index as an optimization criterion to minimize the energy spent by the underactuated manipulator. Although the optimization is performed locally, the results indicate the validity and feasibility of the proposed theory. © 2003 Wiley Periodicals, Inc.
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