Stratégie de commande d'un système multi-chaînes

Gorce P., Guihard M., Fontaine J.

Journal Europeen des Systemes Automatises, vol.30, no.1, pp.63-83, 1996 (Scopus) identifier

  • Nəşrin Növü: Article / Article
  • Cild: 30 Say: 1
  • Nəşr tarixi: 1996
  • jurnalın adı: Journal Europeen des Systemes Automatises
  • Jurnalın baxıldığı indekslər: Scopus
  • Səhifə sayı: pp.63-83
  • Açar sözlər: Control architecture, Forces distribution, Inverse dynamic model, Multi-chains systems, Real-time
  • Açıq Arxiv Kolleksiyası: Məqalə
  • Adres: Bəli

Qısa məlumat

In this paper, we present an efficient control/command scheme for multiple-chains robotic systems (multifingered hand, multiple manipulators and multilegged vehicle) in which the coordination and optimal force distribution problems have been taken into account. To do this, we have studied the similarities of such systems in order to draft a first control command scheme. In function of their differences we have completed this first control/command scheme in the aim to obtain a "versatil" version. In order to embed this control/command scheme, we have paid a great attention to real-time constraints. So, we have optimized the IDM resolution and used a linear programming method (Simplex method) to solve the optimal force distribution problem.