DocumentCode
400332
Title
Riemannian metric application in the optimal control of the manipulator performance
Author
Huang, Xiaohua ; Wang, Delun
Author_Institution
Dalian Univ. of Technol., China
Volume
2
fYear
2003
fDate
12-15 Oct. 2003
Firstpage
1610
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Transportation Systems, 2003. Proceedings. 2003 IEEE
Print_ISBN
0-7803-8125-4
Type
conf
DOI
10.1109/ITSC.2003.1252756
Filename
1252756
Link To Document