Optimal Dynamics Control in Trajectory Tracking of Industrial Robots Based on Adaptive Gaussian Pseudo-Spectral Algorithm
Shranjeno v:
| izdano v: | Algorithms vol. 18, no. 1 (2025), p. 18 |
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| Glavni avtor: | |
| Drugi avtorji: | , , |
| Izdano: |
MDPI AG
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| Teme: | |
| Online dostop: | Citation/Abstract Full Text + Graphics Full Text - PDF |
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MARC
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| 001 | 3159222893 | ||
| 003 | UK-CbPIL | ||
| 022 | |a 1999-4893 | ||
| 024 | 7 | |a 10.3390/a18010018 |2 doi | |
| 035 | |a 3159222893 | ||
| 045 | 2 | |b d20250101 |b d20251231 | |
| 084 | |a 231333 |2 nlm | ||
| 100 | 1 | |a Zhang, Jing |u School of Mechanical, Electrical and Automotive Engineering, Xuchang Vocational Technical College, Xuchang 461000, China; <email>zhukai1979@outlook.com</email>; Henan Modern Electromechanical Equipment System Integration and Digital Engineering Research Center, Xuchang Vocational Technical College, Xuchang 461000, China | |
| 245 | 1 | |a Optimal Dynamics Control in Trajectory Tracking of Industrial Robots Based on Adaptive Gaussian Pseudo-Spectral Algorithm | |
| 260 | |b MDPI AG |c 2025 | ||
| 513 | |a Journal Article | ||
| 520 | 3 | |a A pseudo-spectral control algorithm based on adaptive Gauss collocation point reconstruction is proposed to efficiently solve the optimal dynamics control problem of industrial robots. A mathematical model for the kinematic relationship and dynamic optimization control of industrial robots has been established. On the basis of deriving the Legendre–Gauss collocation formula, a two-stage adaptive Gauss collocation strategy for industrial robot dynamics control variables was designed to improve the dynamics optimization control effect of industrial robot by improving the solution efficiency of constrained optimization problems. The results show that compared with the control variable parameterization method and the traditional Gaussian pseudo-spectral method, the proposed dynamic optimal control method based on an adaptive Gaussian point reconstruction algorithm can effectively improve the solving time and efficiency of constrained optimization problems, thereby further enhancing the dynamic optimization control and trajectory tracking effect of industrial robots. | |
| 653 | |a Control theory | ||
| 653 | |a Spectral control | ||
| 653 | |a Kinematics | ||
| 653 | |a Collocation methods | ||
| 653 | |a Motion control | ||
| 653 | |a Reconstruction | ||
| 653 | |a Tracking | ||
| 653 | |a Optimal control | ||
| 653 | |a Energy consumption | ||
| 653 | |a Efficiency | ||
| 653 | |a Industrial robots | ||
| 653 | |a Spectral methods | ||
| 653 | |a Adaptive algorithms | ||
| 653 | |a Parameterization | ||
| 653 | |a Control algorithms | ||
| 653 | |a Dynamic programming | ||
| 653 | |a Coordinate transformations | ||
| 653 | |a Trajectory optimization | ||
| 653 | |a Lagrange multiplier | ||
| 653 | |a Robot dynamics | ||
| 653 | |a Design | ||
| 653 | |a Control methods | ||
| 653 | |a Constraints | ||
| 653 | |a Optimization algorithms | ||
| 653 | |a Collocation | ||
| 653 | |a Robot control | ||
| 653 | |a Underwater robots | ||
| 700 | 1 | |a Zhu, Xiaokai |u School of Mechanical, Electrical and Automotive Engineering, Xuchang Vocational Technical College, Xuchang 461000, China; <email>zhukai1979@outlook.com</email>; Henan Modern Electromechanical Equipment System Integration and Digital Engineering Research Center, Xuchang Vocational Technical College, Xuchang 461000, China | |
| 700 | 1 | |a Chen, Te |u Automotive Engineering Research Institute, Jiangsu University, Zhenjiang 212013, China; <email>1000005564@ujs.edu.cn</email> | |
| 700 | 1 | |a Dou, Guowei |u School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang 212013, China; <email>dgwujs@126.com</email> | |
| 773 | 0 | |t Algorithms |g vol. 18, no. 1 (2025), p. 18 | |
| 786 | 0 | |d ProQuest |t Engineering Database | |
| 856 | 4 | 1 | |3 Citation/Abstract |u https://www.proquest.com/docview/3159222893/abstract/embedded/75I98GEZK8WCJMPQ?source=fedsrch |
| 856 | 4 | 0 | |3 Full Text + Graphics |u https://www.proquest.com/docview/3159222893/fulltextwithgraphics/embedded/75I98GEZK8WCJMPQ?source=fedsrch |
| 856 | 4 | 0 | |3 Full Text - PDF |u https://www.proquest.com/docview/3159222893/fulltextPDF/embedded/75I98GEZK8WCJMPQ?source=fedsrch |