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The use of locally optimal trajectory management for base reaction control of robots in a microgravity environmentA locally-optimal trajectory management (LOTM) approach is analyzed, and it is found that care should be taken in choosing the Ritz expansion and cost function. A modified cost function for the LOTM approach is proposed which includes the kinetic energy along with the base reactions in a weighted and scale sum. The effects of the modified functions are demonstrated with numerical examples for robots operating in two- and three-dimensional space. It is pointed out that this modified LOTM approach shows good performance, the reactions do not fluctuate greatly, joint velocities reach their objectives at the end of the manifestation, and the CPU time is slightly more than twice the manipulation time.
Document ID
19910065142
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Lin, N. J.
(Case Western Reserve Univ. Cleveland, OH, United States)
Quinn, R. D.
(Case Western Reserve University Cleveland, OH, United States)
Date Acquired
August 14, 2013
Publication Date
January 1, 1991
Subject Category
Cybernetics
Report/Patent Number
AIAA PAPER 91-2823
Meeting Information
Meeting: AIAA Guidance, Navigation and Control Conference
Location: New Orleans, LA
Country: United States
Start Date: August 12, 1991
End Date: August 14, 1991
Accession Number
91A49765
Funding Number(s)
CONTRACT_GRANT: NAG3-761
Distribution Limits
Public
Copyright
Other

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