First order controllability and the time optimal control problem for rigid articulated arm robots with friction

DOI10.1080/00207179008934124zbMath0709.93050OpenAlexW2052395723MaRDI QIDQ3494830

L. Gerard Van Willigenburg

Publication date: 1990

Published in: International Journal of Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/00207179008934124

zbMATH Keywords

time optimal controlarticulated robot armviscous and Coulomb friction

Mathematics Subject Classification ID

Controllability (93B05) Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15) Optimality conditions for problems involving ordinary differential equations (49K15)

Related Items (1)

Computation of time-optimal controls applied to rigid manipulators with friction

Cites Work

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• On the existence of time-optimal control of mechanical manipulators
• Local controllability and sufficient conditions in singular problems
• Suboptimal control of industrial manipulators with a weighted minimum time-fuel criterion
• Time-optimal motions of robots in assembly tasks

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