Time-optimal control of multiple cooperating manipulators with trajectory and motion program constraints.
Li-Chun T. WangMing Jun KuoPublished in: J. Field Robotics (1996)
Keyphrases
- optimal control
- control law
- control problems
- feedback control
- dynamic programming
- risk sensitive
- brownian motion
- control strategy
- optimal control problems
- lyapunov function
- physical constraints
- image sequences
- class of nonlinear systems
- motion planning
- human motion
- constrained optimization
- infinite horizon
- adaptive control
- path planning
- nonlinear systems
- linear constraints
- robotic systems
- degrees of freedom
- motion model
- parallel manipulator
- linear quadratic
- optical flow
- real time