Title :
Optimal kinematic control of a robotic excavator with laser TVS feedback
Author :
Sergiyenko, O.Yu. ; Hernandez-Balbuena, Daniel ; Gurko, A.G. ; Yanchevskiy, I.V. ; Tyrsa, V.V. ; Lopez, M.R. ; Rodriguez-Quinonez, Julio C.
Author_Institution :
Autonomous Univ. of Baja California, Mexicali, Mexico
Abstract :
The problem of optimal kinematic control of an excavator manipulator motion for a given trajectory is considered. The minimizing of the quadratic functional of the angles associated with the respective weights as the optimality criterion is adopted. The efficiency of proposed method is confirmed by numerical example. Offered laser Technical Vision System (TVS) completes the designed controller with necessary tool for effective feedback about manipulator coincidence with desired trajectory.
Keywords :
control system synthesis; excavators; feedback; manipulator kinematics; motion control; optimal control; quadratic programming; robot vision; trajectory control; basket tip movement; controller design; excavator manipulator motion; inverse kinematics; laser TVS feedback; laser technical vision system; optimal kinematic control; optimality criterion; quadratic functional minimization; robotic excavator; trajectory; Acceleration; Equations; Kinematics; Manipulators; Mathematical model; Trajectory; Technical Vision System; inverse kinematic; optimal control; robotic excavator; the Tikhonov´s regularization method;
Conference_Titel :
Industrial Electronics Society, IECON 2013 - 39th Annual Conference of the IEEE
Conference_Location :
Vienna
DOI :
10.1109/IECON.2013.6699816
