Beschreibung
Optimal control of flexible robots is an active research area as robots are increasingly used in various fields such as manufacturing, aerospace, and medicine. The flexibility of robotic manipulators affects their dynamic behavior, leading to problems such as vibration, instability, and accuracy issues. Optimal control techniques can be used to optimize the performance of flexible robots and improve their efficiency.In recent years, several optimal control strategies for robots have been proposed, including time-optimal control, minimum energy control, and path planning control. Time-optimal control aims to minimize the operation time required for the robot to move between two positions while maintaining velocity and acceleration limits. Minimum energy control minimizes the robot's energy consumption during movement, while trajectory planning control aims to minimize the error between the robot's desired trajectory and its actual trajectory. In addition, structural optimization can be considered to incorporate the mass, stiffness, and a possible deformation of the robot's flexible components. An important future research goal will be to combine different research questions on optimal control within one optimization task.
Overall, optimal control techniques have the potential to significantly improve the performance of flexible robots in various applications. However, the selection of the appropriate optimal control strategy depends on the specific requirements of the application as well as the characteristics of the robot. Future research in this area is likely to focus on the development of advanced optimal control strategies that can handle the complex dynamic behavior of highly flexible robots.
| Zeitraum | 3 Mai 2023 |
|---|---|
| Ereignistitel | TUM-IAS General Assembly 2023: TUM - Institute for Advanced Studies |
| Veranstaltungstyp | Konferenz |
| Ort | Garching, Deutschland, BayernAuf Karte anzeigen |
| Bekanntheitsgrad | International |