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  • 1
    Electronic Resource
    Electronic Resource
    Springer
    Journal of optimization theory and applications 84 (1995), S. 589-616 
    ISSN: 1573-2878
    Keywords: Optimal control ; robotics ; path planning ; maximum principle ; multi-point boundary value problems ; multiple shooting
    Source: Springer Online Journal Archives 1860-2000
    Topics: Mathematics
    Notes: Abstract The problem of the time-optimal control of robot manipulators is of importance because of its potential for increasing the productivity of assembly lines. This work is part of a series of papers by the authors on this topic using direct and indirect methods of optimization. A cylindrical robot or a spherical polar robot constrained to the horizontal plane is considered, and optimal solutions for radial maneuvers are generated. Indirect methods are employed in order to establish the switching structure of the solutions. The results show that even such apparently simple maneuvers as extension or retraction of a robot with a prismatic joint can produce very complex optimal solutions. Time-optimal retraction can exhibit ten different switching structures with eight switching points and two singular arcs.
    Type of Medium: Electronic Resource
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  • 2
    Publication Date: 2019-07-13
    Description: In the last few years various methods of identifying structural dynamics models from modal testing data have appeared. This paper presents a comparison of four of these algorithms: the Eigensystem Realization Algorithm (ERA), the modified version ERA/DC where DC indicates that it makes use of data correlations, the Q-Markov Cover algorithm, and an algorithm due to Moonen, DeMoor, Vandenberghe and Vandewalle. The comparison is made using a five mode computer model of the 20 meter Mini-Mast truss structure at NASA Langley Research Center, and various noise levels are superimposed to produce simulated data. The results show that for the example considered ERA/DC generally gives the best results; that ERA/DC is always at least as good as ERA which is shown to be a special case of ERA/DC; that Q-Markov requires the use of significantly more data than ERA/DC to produce comparable results; and that in some situations Q-Markov cannot produce comparable results.
    Keywords: STRUCTURAL MECHANICS
    Type: AIAA PAPER 91-0947 , AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference; Apr 08, 1991 - Apr 10, 1991; Baltimore, MD; United States
    Format: text
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