The Timing Optimum Control Algorithm for Climbing Robot
GU Xue-min · Machine Tool & Hydraulics · 2005
Based on the two important examples in optimum control theory to make extension,by combining with the knowledge of kinematics and dynamics and simplifying the actual running condition of robot reasonably,a set of timing optimum control algorithm was established for the fast climbing of the robot.The simulation of the sampling was carried out with C language programming,and the picture of locus for the data produced was analyzed with MATLAB.Experiment proves that this control algorithm is quite feasible.