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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