Time-Optimal Control of Robotic Manipulators Along Specified Paths

The minimum-time manipulator control problem is solved for the case when the path is specified and the actuator torque limitations are known. The optimal open-loop torques are found, and a method is given for implementing these torques with a conventional linear feedback control system. The algorith...

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Veröffentlicht in:The International journal of robotics research 1985-01, Vol.4 (3), p.3-17
Hauptverfasser: Bobrow, J.E., Dubowsky, S., Gibson, J.S.
Format: Artikel
Sprache:eng
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Zusammenfassung:The minimum-time manipulator control problem is solved for the case when the path is specified and the actuator torque limitations are known. The optimal open-loop torques are found, and a method is given for implementing these torques with a conventional linear feedback control system. The algorithm allows bounds on the torques that may be arbitrary functions of the joint angles and angular velocities. This method is valid for any path and orientation of the end- effector that is specified. The algorithm can be used for any manipulator that has rigid links, known dynamic equations of motion, and joint angles that can be determined at a given position on the path.
ISSN:0278-3649
1741-3176
DOI:10.1177/027836498500400301