Effects of Gravitation on Time-Optimal Control of Two-Link Manipulators

Effects of Gravitation on Time-Optimal Control of Two-Link Manipulators

An investigation of the effects of the plane of motion in the gravitational field of a two-link manipulator on the time and the control pattern of optimal maneuvers is presented. Time-optimal maneuvers are determined by directly solving the two-point boundary value problem derived from Pontriagin�...

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Veröffentlicht in:Journal of guidance, control, and dynamics control, and dynamics, 1998-09, Vol.21 (5), p.812-813
Hauptverfasser: Fotouhi-Chahouki, Reza, Szyskwowski, Walerian
Format: Artikel
Sprache:eng
Schlagworte:
Boundary value problems
Control system analysis
Gravitational effects
Gravity
Maneuverability
Mechanical engineering
Optimal control
Optimal control systems
Problem solving
Time optimal control
Vectors
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container_title Journal of guidance, control, and dynamics
container_volume 21
creator Fotouhi-Chahouki, Reza
Szyskwowski, Walerian
description An investigation of the effects of the plane of motion in the gravitational field of a two-link manipulator on the time and the control pattern of optimal maneuvers is presented. Time-optimal maneuvers are determined by directly solving the two-point boundary value problem derived from Pontriagin's minimum principle. It is shown that gravity always increases the duration of time-optimal rest-to-rest maneuvers independently of whether the movement of the links is against or with the force of gravity. (AIAA)
doi_str_mv 10.2514/2.7616
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ispartof Journal of guidance, control, and dynamics, 1998-09, Vol.21 (5), p.812-813
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subjects Boundary value problems
Control system analysis
Gravitational effects
Gravity
Maneuverability
Mechanical engineering
Optimal control
Optimal control systems
Problem solving
Time optimal control
Vectors
title Effects of Gravitation on Time-Optimal Control of Two-Link Manipulators
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