書誌事項
- タイトル別名
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- Study on Optimal Control Algorithm for Link Mechanisms-The Case of Open-Link Mechanisms-
- リンク キコウ ノ サイテキ セイギョ ケイサンホウ ニ カンスル ケンキュウ カイ リンク キコウ ノ バアイ
- —The Case of Open-Link Mechanisms—
- ―開リンク機構の場合―
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抄録
This paper proposes a general optimal control algorithm for open-link mechanisms. Using the minimum principle, the optimal control problem can be transformed to a two-point boundary value problem of canonical equations of Hamilton. In order to solve the two-point boundary value problem efficiently, a recursive computational algorithm for canonical equations of Hamilton is developed based on the dynamics computational algorithm for link mechanisms. Then, a general optimal control algorithm for open-link mechanisms is formulated by connecting the present recursive algorithm and the robust optimal control algorithm called hierarchical gradient method that developed by authors previously. Some simulation results are shown to verify the effectiveness of the proposed algorithm.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 25 (5), 717-726, 2007
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390282679702996352
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- NII論文ID
- 10019583694
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
- http://id.crossref.org/issn/02891824
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- NDL書誌ID
- 8890979
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可