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Type: Artigo de periódico
Title: Heuristic search method for continuous-path tracking optimization on high-performance industrial robots
Author: Madrid, MK
Badan, AGP
Abstract: The paper proposes an on-line heuristic search method to solve the robot continuous-path tracking control problem. It is a numerical technique that does not require inverse kinematic modelling of the robot, and gives accurate tracking with good performance in the presence of disturbances. It can be applied to serial-chain robots with any number of degrees of freedom. Its convergence does not depend on the initial approximation, and it is not sensitive to robot singularities. Its practical application was tested on a 5 DOF robot, without loss of generality. Copyright (C) 1997 Elsevier Science Ltd.
Subject: continuous-path control
heuristic search
real-time control
industrial robots
trajectory control
Country: Inglaterra
Editor: Pergamon-elsevier Science Ltd
Citation: Control Engineering Practice. Pergamon-elsevier Science Ltd, v. 5, n. 9, n. 1261, n. 1271, 1997.
Rights: embargo
Identifier DOI: 10.1016/S0967-0661(97)84365-1
Date Issue: 1997
Appears in Collections:Unicamp - Artigos e Outros Documentos

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