Time-optimal motions of robots in assembly tasks

DOI10.1109/TAC.1986.1104333zbMath0598.93026OpenAlexW2109243489MaRDI QIDQ3734246

Stephan A. R. Hepner, Christopher H. Onder, Lino Guzzella, Hans P. Geering

Publication date: 1986

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1109/tac.1986.1104333

zbMATH Keywords

singular arcsPontryagin minimum principletime-optimal motionsassembly robots

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15) Control/observation systems governed by ordinary differential equations (93C15) Optimality conditions for problems involving ordinary differential equations (49K15) Optimality conditions for solutions belonging to restricted classes (Lipschitz controls, bang-bang controls, etc.) (49K30)

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