Optimization as motion selection principle in robot action
نویسندگان
چکیده
منابع مشابه
Newton-type algorithms for robot motion optimization
This paper presents a class of Newton-type algori thms fo r the optimization of robot motions that take in to account the dynamics. Using techniques f rom the theory of L ie groups and Lie algebras, the equations of mot ion of a rigid multibody sys tem can be formulated in such a way that both the f irst and second derivatives of the dynamic equations with respect t o arbitrary jo in t variable...
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ژورنال
عنوان ژورنال: Communications of the ACM
سال: 2015
ISSN: 0001-0782,1557-7317
DOI: 10.1145/2743132