Design of minimum-time optimal motion of multisectional manipulator (Q677390)

The paper deals with the minimum-time programmed motion of a multisectional, industrial manipulator. The authors present an algorithm of programmed motion, which is based on the reduction of the assumed optimal problem to a known problem of optimal control. The solution is obtained using the Maximum Principle. Efficiency of the proposed method of design of programmed motion is compared with other methods. The paper may be useful in engineering applications.