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Author Sadati, Nasser ♦ Babazadeh, Amir
Source CiteSeerX
Content type Text
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Subject Domain (in DDC) Computer science, information & general works ♦ Data processing & computer science
Subject Keyword Multiple-arm Robotic System ♦ Overall System ♦ Computational Problem ♦ Large Scale ♦ Overall Problem ♦ Two-level Large-scale System ♦ Decomposition-coordination Framework ♦ Optimal Control Framework ♦ Second Level ♦ Overall Optimum ♦ Interaction Prediction Error ♦ First Level ♦ Typical Gradient Optimization Method
Abstract Abstract: Optimal control frameworks are very important in optimization of multiple-arm robotic systems, although complexity, non-linearity and having large scales usually cause some computational problems in the capacity and time needed. In this paper, it is shown how by conducting the study of multiple-arm robotic systems, within a decomposition-coordination framework, the overall optimum can be achieved in only a few iterations. By using this methodology, the overall problem is considered as optimization of a two-level large-scale system. So with the aim of optimization, the problem is first decomposed into m sub-problems at the first level, where each sub-problem is solved using a typical gradient optimization method. Then by using the proposed methodology, which is based on the gradient of the interaction prediction errors, at the second level, the coordination of the overall system is done. Copyright © 2005 IFAC
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research
Education Level UG and PG ♦ Career/Technical Study
Learning Resource Type Article