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 |
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| container_title | The International journal of robotics research |
| container_volume | 4 |
| creator | Bobrow, J.E. Dubowsky, S. Gibson, J.S. |
| description | 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. |
| doi_str_mv | 10.1177/027836498500400301 |
| format | Article |
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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.</description><identifier>ISSN: 0278-3649</identifier><identifier>EISSN: 1741-3176</identifier><identifier>DOI: 10.1177/027836498500400301</identifier><identifier>CODEN: IJRREL</identifier><language>eng</language><publisher>Thousand Oaks, CA: Sage Publications</publisher><subject>Applied sciences ; Computer science; control theory; systems ; control systems ; Control theory. 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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.</description><subject>Applied sciences</subject><subject>Computer science; control theory; systems</subject><subject>control systems</subject><subject>Control theory. Systems</subject><subject>Exact sciences and technology</subject><subject>manipulators</subject><subject>mechanical handling</subject><subject>numerical analysis</subject><subject>optimal control</subject><subject>Robotics</subject><subject>robots</subject><subject>torque control</subject><subject>velocity</subject><issn>0278-3649</issn><issn>1741-3176</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>1985</creationdate><recordtype>article</recordtype><recordid>eNqN0U1LwzAYB_AgCs7pF_DUg-ipLmnz0h7n8A0mE53nkqTJzMiamqQHv70ZG16E4SWB8Hv-5HkeAC4RvEWIsQksWFVSXFcEQgxhCdERGCGGUV4iRo_BaAvyrTgFZyGsYTIU1iNwtzQblS_6aDbcZjPXRe9s5nT25oSLRmYvvDP9YHl0PmRT67pV9t4rabRRbfbK42c4Byea26Au9vcYfDzcL2dP-Xzx-DybznOJGY45qVsidVvSmivKqKSkTQ9QoPTnVkhOEceQCkF4WYsWIim10CUXiiHVVpUsx-Bml9t79zWoEJuNCVJZyzvlhtAwTFOvNSqSvD4oC1wRmo5_QVgRkmCxg9K7ELzSTe_TxPx3g2Cz3UDzdwOp6GqfzoPkVnveSRN-KysKEUM0scmOBb5SzdoNvktjPBT8A2vgkng</recordid><startdate>19850101</startdate><enddate>19850101</enddate><creator>Bobrow, J.E.</creator><creator>Dubowsky, S.</creator><creator>Gibson, J.S.</creator><general>Sage Publications</general><general>Sage Science</general><scope>IQODW</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>8FD</scope><scope>H8D</scope><scope>L7M</scope><scope>7SC</scope><scope>7SP</scope><scope>JQ2</scope><scope>L~C</scope><scope>L~D</scope><scope>7TC</scope></search><sort><creationdate>19850101</creationdate><title>Time-Optimal Control of Robotic Manipulators Along Specified Paths</title><author>Bobrow, J.E. ; Dubowsky, S. ; Gibson, J.S.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c474t-59d5cfd369ae676c65dd5c0b1850dbca61a406bb5a39bd01ccfbf3abe71ed88c3</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>1985</creationdate><topic>Applied sciences</topic><topic>Computer science; control theory; systems</topic><topic>control systems</topic><topic>Control theory. 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| ispartof | The International journal of robotics research, 1985-01, Vol.4 (3), p.3-17 |
| issn | 0278-3649 1741-3176 |
| language | eng |
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| source | Access via SAGE |
| subjects | Applied sciences Computer science control theory systems control systems Control theory. Systems Exact sciences and technology manipulators mechanical handling numerical analysis optimal control Robotics robots torque control velocity |
| title | Time-Optimal Control of Robotic Manipulators Along Specified Paths |
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