Newsgroups: comp.robotics
Path: brunix!news.Brown.EDU!agate!howland.reston.ans.net!newsserver.jvnc.net!tiger!sun330.snu.ac.kr!usenet
From: pkc@asrignc3.snu.ac.kr (Park Kyu Cheol)
Subject: Optimal Control For ROBOT ??
Message-ID: <1994Apr8.044036.12775@news.snu.ac.kr>
Sender: usenet@news.snu.ac.kr (NEWS POSTER)
Organization: Seoul National University, Seoul KOREA
Date: Fri, 8 Apr 94 04:40:36 GMT
Lines:       34

Greetings all !!

I am working about the robotics and mobile robots. But I have some questions
about the kinematics and inverse kinematics. I assume that I know the
initial status and the final status to be reached. If we are concerned about the
manipulator, we just slove the inverse kinematics with every possible methods.
It looks something good .. But I have some objections. In KINEMATICS can we
consider the robot hardware constraints ( i.e it's  angular velocity or linear
velocity ... ) ?
Then , How about the mobile robots ? Is it the same ( or similar )that of the
 manipulator robot's ?

Now , Look at the other sides.

If we know the initial and final status , we can regard the robot control as the
two point boundary value problem . Then how about using the optimal control ? 
But here is some problem. 
  First, we must know the robot dynamics . 

  2nd , Modeling Problem.
        What kind of technique can we use to model the robots? 
        Just we regard the robots as points of mass or rigid body .. Or, How ?? 
        How about the motor or hydrualic systems ? 

Are There any published methods to model the robots or any known dynamics? Are
there any papers related with this matters ?

  Any suggestion or remarks will be appreciated ...
  Please send e-mail to me .
  e-mail : pkc@asrignc3.snu.ac.kr
 
  Thanks in advance ..
   PKC
