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  • 1995-1999  (2)
  • 1
    Digitale Medien
    Digitale Medien
    Path Planning for Robots by Stochastic Optimization Methods (1998)
    Springer
    Journal of intelligent and robotic systems 22 (1998), S. 117-127 
    Details
    ISSN: 1573-0409
    Schlagwort(e): path planning for robots ; stochastic uncertainty ; real-time computation ; B-splines ; neural networks
    Quelle: Springer Online Journal Archives 1860-2000
    Thema: Informatik , Maschinenbau
    Notizen: Abstract The problem of adaptive trajectory planning for robots under stochastic uncertainty is considered, where new information about the robots and their environment is presented on-line. Solving the problem numerically by means of spline approximation and by applying the method of neural networks, the optimal control can be calculated in real-time. Some numerical results are presented.
    Materialart: Digitale Medien
    URL: http://dx.doi.org/10.1023/A:1007976516339
    Bibliothek Standort Signatur Band/Heft/Jahr Verfügbarkeit
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  • 2
    Digitale Medien
    Digitale Medien
    Optimal trajectory planning for robots under the consideration of stochastic parameters and disturbances (1996)
    Springer
    Journal of intelligent and robotic systems 15 (1996), S. 19-23 
    Details
    ISSN: 1573-0409
    Schlagwort(e): Trajectory planning ; open-loop strategy
    Quelle: Springer Online Journal Archives 1860-2000
    Thema: Informatik , Maschinenbau
    Notizen: Abstract Efficient control strategies of robots should cause only low on-line correction expenses. Hence, the mostly available statistical and a priori informations about the random parameters and disturbances of the underlying mechanical system and its environment should be considered already for off-line programming of robots. Measuring the violations of the basic mechanical conditions by means of expected penalty costs, a stochastic optimization problem is obtained for the computation of an optimal open-loop control. The stochastic optimization problem can be solved — after discretization — by parameter optimization.
    Materialart: Digitale Medien
    URL: http://dx.doi.org/10.1007/BF00435723
    Bibliothek Standort Signatur Band/Heft/Jahr Verfügbarkeit
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