Improving Time-Optimal Maneuvers of Two-Link Robotic Manipulators

Improving Time-Optimal Maneuvers of Two-Link Robotic Manipulators

Numerical results of a parametric study for rest-to-rest time-optimal maneuvers of rigid two-link robotic manipulators are discussed. The problem of minimizing the time of planar maneuvers in terms of control and structure was considered parametrically. It was concluded that the performance of two-l...

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Veröffentlicht in:Journal of guidance, control, and dynamics control, and dynamics, 2000-09, Vol.23 (5), p.888-889
Hauptverfasser: Szyszkowski, Walerian, Fotouhi-C, Reza
Format: Artikel
Sprache:eng
Schlagworte:
Maneuvers
Mechanical engineering
Robot arms
Robotics
Robots
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Zusammenfassung:Numerical results of a parametric study for rest-to-rest time-optimal maneuvers of rigid two-link robotic manipulators are discussed. The problem of minimizing the time of planar maneuvers in terms of control and structure was considered parametrically. It was concluded that the performance of two-link optimal maneuvers could be improved by varying some of their structural parameters. (CSA)
ISSN:0731-5090
1533-3884
DOI:10.2514/2.4619