This paper addresses optimal motion for general machines. Approximation for optimal motion needs a global pathplanningalgorithm that precisely calculates the whole dynamics of a machine in a brief calculation. We pr...
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ISBN:
(纸本)9781457708398
This paper addresses optimal motion for general machines. Approximation for optimal motion needs a global pathplanningalgorithm that precisely calculates the whole dynamics of a machine in a brief calculation. We propose a pathplanningalgorithm that is composed of a path searching algorithm and a pruning algorithm. The pruning algorithm is based on our analysis for the resemblances of states. To confirm the precision, calculation cost, optimality, and applicability of the proposed algorithm, we conducted several shortest time pathplanning examinations for the dynamic models of double inverted pendulums. The precision to reach the goal state of the pendulums was better than other algorithms. The calculation was at least 58 times faster. There was a positive correlation between the optimality and the resolutions of the proposed algorithm. As a result of torque based feedback control simulation, we confirmed applicability of the proposed algorithm under noisy situation.
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