Improving time-optimal maneuvers of two-link robotic manipulators

Journal of Guidance, Control, and Dynamics

Volumn 23, Issue 5, 2000, Pages 888-889

  Szyszkowski, Walerian ^a   Fotouhi C , Reza ^a  

^a UNIVERSITY OF SASKATCHEWAN   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

BANG BANG CONTROL SYSTEMS; COMPUTATIONAL COMPLEXITY; CONTROL SYSTEM ANALYSIS; CONTROL SYSTEM SYNTHESIS; MANEUVERABILITY; MANIPULATORS; MOTION PLANNING; OPTIMAL CONTROL SYSTEMS; ROBOTICS; TORQUE CONTROL;

PONTRYAGIN MINIMUM PRINCIPLE (PMP); TWO-LINK ROBOTIC MANIPULATORS;

MOTION CONTROL;

EID: 0034275552     PISSN: 07315090     EISSN: None     Source Type: Journal    
DOI: 10.2514/2.4619     Document Type: Article

References (5)

1. Geering, H. P., Guzzella, L., Hepner, S. A. R., and Onder, C. H., "Time-Optimal Motions of Robots in Assembly Tasks," Institute of Electrical and Electronics Engineers Transactions on Automatic Control, Vol. AC-31, No. 6, 1986, pp. 512-518.
2. Van Willigenburg, L. G., and Loop, R. P. H., "Computation of Time-Optimal Controls Applied to Rigid Manipulators with Friction," International Journal of Control, Vol. 54, No. 5, 1991, pp. 1097-1117.
3. Fotouhi-C. R., and Szyszkowski, W., "An Algorithm for Time-Optimal Control Problems," American Society of Mechanical Engineers Journal of Dynamic, Systems, Measurement, and Control, Vol. 120, No. 3, 1998, pp. 414-418.
4. Fotouhi-C. R., "Time-Optimal Control of Two-Link Manipulators," Ph.D. Dissertation, Mechanical Engineering Dept., Univ. of Saskatchewan, Saskatoon, Canada, Sept. 1996.
5. Fotouhi-C. R., and Szyszkowski, W., "Effects of Gravitation on Time-Optimal Control of Two-Link Manipulators," Journal of Guidance, Control, and Dynamics, Vol. 21, No. 5, 1998, pp. 812-813.