The structure of time-optimal controls for kinematically redundant manipulators with end-effector path constraints

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 1, Issue , 1998, Pages 101-106

  Galicki, M ^a,b  

^a JENA UNIVERSITY HOSPITAL   (Germany)

^b UNIVERSITY OF ZIELONA GÓRA   (Poland)

Author keywords

[No Author keywords available]

Indexed keywords

ACTUATORS; INDUSTRIAL MANIPULATORS; OPTIMAL CONTROL SYSTEMS; REDUNDANT MANIPULATORS; ROBOTICS; CONSTRAINT THEORY; END EFFECTORS; MATHEMATICAL MODELS; STATE SPACE METHODS;

CONTROL CONSTRAINT; KINEMATICALLY REDUNDANT MANIPULATORS; PATH CONSTRAINT; POINT TO POINT; TIME OPTIMAL CONTROL; TIME-OPTIMAL; TIME-OPTIMAL CONTROL PROBLEMS; WORK SPACE;

STRUCTURAL OPTIMIZATION; MANIPULATORS;

TIME OPTIMAL CONTROL SYSTEMS;

EID: 0031638758     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.1998.676324     Document Type: Conference Paper

References (10)

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