Minimum-time control laws for robotic manipulators

DOI10.1080/00207179308934376zbMath0817.93047OpenAlexW2019933839MaRDI QIDQ4036106

Yaobin Chen, Alan A. Desrochers

Publication date: 16 May 1993

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

Full work available at URL: https://doi.org/10.1080/00207179308934376

zbMATH Keywords

path planningperturbative methodsminimum-time controldynamic scalingdesign specificationsHamiltonian canonical formulationrigid robotic manipulatorsnonsingular optimal control

Mathematics Subject Classification ID

Design techniques (robust design, computer-aided design, etc.) (93B51) Perturbations in control/observation systems (93C73) Automated systems (robots, etc.) in control theory (93C85) Hamilton's equations (70H05) Linear optimal control problems (49N05)

Related Items (3)

Simplified time-optimal path planning of \(X-Y\) gantry systems along circular paths ⋮ A hybrid direct-indirect approach for solving the singular optimal control problems of finite and infinite order ⋮ A mixed-binary non-linear programming approach for the numerical solution of a family of singular optimal control problems

Cites Work

• Suboptimal control of industrial manipulators with a weighted minimum time-fuel criterion
• Dynamic Scaling of Manipulator Trajectories
• Optimal control of systems with hard control bounds
• Time-optimal motions of robots in assembly tasks
• On the structure of the time-optimal controls for robotic manipulators

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