Optimal Dynamics Control in Trajectory Tracking of Industrial Robots Based on Adaptive Gaussian Pseudo-Spectral Algorithm DOI Creative Commons
Jin Zhang,

Xiaokai Zhu,

Te Chen

et al.

Algorithms, Journal Year: 2025, Volume and Issue: 18(1), P. 18 - 18

Published: Jan. 3, 2025

A pseudo-spectral control algorithm based on adaptive Gauss collocation point reconstruction is proposed to efficiently solve the optimal dynamics problem of industrial robots. mathematical model for kinematic relationship and dynamic optimization robots has been established. On basis deriving Legendre–Gauss formula, a two-stage strategy robot variables was designed improve effect by improving solution efficiency constrained problems. The results show that compared with variable parameterization method traditional Gaussian method, an can effectively solving time problems, thereby further enhancing trajectory tracking

Language: Английский

Optimal Dynamics Control in Trajectory Tracking of Industrial Robots Based on Adaptive Gaussian Pseudo-Spectral Algorithm DOI Creative Commons
Jin Zhang,

Xiaokai Zhu,

Te Chen

et al.

Algorithms, Journal Year: 2025, Volume and Issue: 18(1), P. 18 - 18

Published: Jan. 3, 2025

A pseudo-spectral control algorithm based on adaptive Gauss collocation point reconstruction is proposed to efficiently solve the optimal dynamics problem of industrial robots. mathematical model for kinematic relationship and dynamic optimization robots has been established. On basis deriving Legendre–Gauss formula, a two-stage strategy robot variables was designed improve effect by improving solution efficiency constrained problems. The results show that compared with variable parameterization method traditional Gaussian method, an can effectively solving time problems, thereby further enhancing trajectory tracking

Language: Английский

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