Title :
Riemannian metric application in the optimal control of the manipulator performance
Author :
Huang, Xiaohua ; Wang, Delun
Author_Institution :
Dalian Univ. of Technol., China
Abstract :
According to the geometry, the kinematics and the dynamics about the robotic manipulator, on the base of the Riemannian metric, the property of the smooth hyper-surface and the manifold have been studied. The SCARA robot has been set as a example in this work, the cure that represents the minimal energy and the differential equation group that images the coupling of the manipulator are showed.
Keywords :
differential equations; differential geometry; manipulator dynamics; manipulator kinematics; optimal control; Riemannian metric application; SCARA robot; manipulator performance; optimal control; robotic manipulator; smooth hyper-surface; Computational geometry; Control systems; Design methodology; Differential equations; Kinematics; Linear systems; Manipulator dynamics; Nonlinear control systems; Optimal control; Robots;
Conference_Titel :
Intelligent Transportation Systems, 2003. Proceedings. 2003 IEEE
Print_ISBN :
0-7803-8125-4
DOI :
10.1109/ITSC.2003.1252756
