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

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

研究成果: Conference contribution

5 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009
ページ885-890
ページ数6
DOI
出版ステータスPublished - 2009 9 25
外部発表はい
イベント2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009 - Okayama, Japan
継続期間: 2009 3 262009 3 29

出版物シリーズ

名前Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009

Conference

Conference2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009
国/地域Japan
CityOkayama
Period09/3/2609/3/29

ASJC Scopus subject areas

  • コンピュータ ネットワークおよび通信
  • 電子工学および電気工学

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