| 한글제목(Korean Title) |
Minimum-Time Trajectory Planning and Sliding Mode Controller for Robots Using Evolution Strategy |
| 영문제목(English Title) |
Minimum-Time Trajectory Planning and Sliding Mode Controller for Robots Using Evolution Strategy |
| 저자(Author) |
Hyun-Sik Kim
Jin-hyun Park
Young-Kiu Choi
|
| 원문수록처(Citation) |
VOL 04 NO. 01 PP. 0037 ~ 0042 (1999. 02) |
한글내용
(Korean Abstract) |
|
영문내용
(English Abstract) |
This paper presents a minimum-time trajectory planning method and a tracking control scheme for robot manipulators. In the first step, we find the minimum-time trajectories by optimizing cubic polynomial joint trajectories using the evolution strategy. In the second step, by the use of the evolution strategy we tune the sliding mode controller parameters for the robot manipulator to track precisely the trajectories found in the previous step. Experimental results show that the proposed method is very useful. |
| 키워드(Keyword) |
Minimum-Time Trajectory
Evolution Strategy
Sliding Mode Controller
|
| 파일첨부 |
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