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  • Steepest descent optimisation in the secondary space of redundant manipulators
    Lenarčič, Jadran ; Nemec, Bojan
    To minimise a cost function in the secondary level of control of redundant manupulators, the gradient of the cost function is projected on the null space of the primary task. This projection, ... however, does not guarantee the maximum decrement of the cost function. In the present paper we rotate the null space of the primary task in order to find the maximum optimisation step. By this improvement, the optimisation procedure can provide the desired solution in much less iterations.
    Vir: Informatica : an international journal of computing and informatics. - ISSN 0350-5596 (Vol. 21, no. 4, nov. 1997, str. 651-655)
    Vrsta gradiva - članek, sestavni del
    Leto - 1997
    Jezik - angleški
    COBISS.SI-ID - 13007911

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    Digitalna knjižnica Slovenije - dLib.si

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