Concurrent redesign of an underactuated robot manipulator - Cruz-Villar, Carlos A.; Alvarez-Gallegos, Jaime; Villarreal-Cervantes, Miguel G. (Mechatronics (Oxford), 2009)
Keywords: Applied sciences; Computer science; control theory; systems; Concurrent redesign; Control theory. Systems; Design optimization; Drives; Exact sciences and technology; Fundamental areas of phenomenology (including applications); Linkage mechanisms, cams; Mechanical engineering. Machine design; Minimum time; Pendubot; Physics; Robotics; Solid dynamics (ballistics, collision, multibody system, stabilization...); Solid mechanics; Minimum time; Concurrent redesign; Pendubot; Design optimization; Multimodel control; Positioning; Projected gradient method; Optimization; Robotics; Bang bang control; Manipulator; Linkage mechanism; Underactuation; Mechanical system; Pendulum; Dynamic programming