Real-time optimization for cleaner-robot with multi-joint arm

Akihiro Okazaki, Toshihiro Senoo, Joe Imae, Tomoaki Kobayashi, Guisheng Zhai

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

In this paper, we introduce a cleaner-robot, which has arm-like mechanism for vacuum cleaning, and we also propose the control method, which realizes complex task with the cleaner-robot. This method is based on the real-time optimization for nonlinear dynamical systems. Our method has three features. The first is to include penalty concerning main body of robot and arm in performance index. The second is to use feedback timing of real-time optimization for sweeping around targets. The third is to change weight matrices in performance index, during control is going on, using the above timing. By applying the method, robot can perform complex task with simple arm-mechanism.

Original languageEnglish
Title of host publicationProceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009
Pages885-890
Number of pages6
DOIs
Publication statusPublished - 2009
Externally publishedYes
Event2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009 - Okayama
Duration: 2009 Mar 262009 Mar 29

Other

Other2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009
CityOkayama
Period09/3/2609/3/29

Fingerprint

Robots
Nonlinear dynamical systems
Cleaning
Vacuum
Feedback

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Electrical and Electronic Engineering

Cite this

Okazaki, A., Senoo, T., Imae, J., Kobayashi, T., & Zhai, G. (2009). Real-time optimization for cleaner-robot with multi-joint arm. In Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009 (pp. 885-890). [4919397] https://doi.org/10.1109/ICNSC.2009.4919397

Real-time optimization for cleaner-robot with multi-joint arm. / Okazaki, Akihiro; Senoo, Toshihiro; Imae, Joe; Kobayashi, Tomoaki; Zhai, Guisheng.

Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009. 2009. p. 885-890 4919397.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Okazaki, A, Senoo, T, Imae, J, Kobayashi, T & Zhai, G 2009, Real-time optimization for cleaner-robot with multi-joint arm. in Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009., 4919397, pp. 885-890, 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009, Okayama, 09/3/26. https://doi.org/10.1109/ICNSC.2009.4919397
Okazaki A, Senoo T, Imae J, Kobayashi T, Zhai G. Real-time optimization for cleaner-robot with multi-joint arm. In Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009. 2009. p. 885-890. 4919397 https://doi.org/10.1109/ICNSC.2009.4919397
Okazaki, Akihiro ; Senoo, Toshihiro ; Imae, Joe ; Kobayashi, Tomoaki ; Zhai, Guisheng. / Real-time optimization for cleaner-robot with multi-joint arm. Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009. 2009. pp. 885-890
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