On the existence of time-optimal control of mechanical manipulators (Q796813)

This paper is concerned with the problem of the existence and structure of time-optimal control for models derived from Lagrange equations of motion of mechanical systems involving links. The condition which ensures the existence of time-optimal control is demonstrated. The study conducted in this paper involves a highly nonlinear mathematical model of a two-degree-of-freedom mechanical system. However, the procedure and the results presented in this paper can be extended to mechanical systems with any finite number of degrees of freedom.