Real-time Optimal Control of Force Distribution Using a Neural Dynamical Approach

摘要：

Force optimization of multi .ngered robotic hands can be formulated as a convex programming or non-convex programming problem.This paper presents a neural dynam- ical method for real-time optimal control of force distribution. Compared with existing approaches to the force optimization,the proposed neural dynamical approach is shown to have a lower model complexity and an exponential convergence even in the case of singular positions.A simulation example shows that the proposed neural dynamical approach can achieve optimal force distribution in real time.

作者: Youshen Xia Gang Feng

作者单位: College of Mathematics and Computer Science Fuzhou University,Fuzhou,China Department of Manufacturing Engg.and Engg.Management City University of Hong Kong,Hong Kong,China

会议类型: 国际会议

会议名称: 2008 IEEE International Conference on Onformation and Automation(IEEE 信息与自动化国际会议)

会议地点: 张家界

会议语种:英文

页码: 1576-1579

在线出版日期: 2008-06-20（万方平台首次上网日期，不代表论文的发表时间）