Optimal Dynamics Control in Trajectory Tracking of Industrial Robots Based on Adaptive Gaussian Pseudo-Spectral Algorithm

Optimal Dynamics Control in Trajectory Tracking of Industrial Robots Based on Adaptive Gaussian Pseudo-Spectral Algorithm

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...

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Bibliographic Details
Main Authors: Jing Zhang, Xiaokai Zhu, Te Chen, Guowei Dou
Format: Article
Language:English
Published: MDPI AG 2025-01-01
Series:Algorithms
Subjects:
optimization control
Gaussian pseudo-spectral method
objective function
interpolation polynomial
Online Access:https://www.mdpi.com/1999-4893/18/1/18
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