An improved computation of time-optimal control trajectory for robotic point-to-point motion

DOI10.1080/00207179608921692zbMath0855.49026OpenAlexW2039691713MaRDI QIDQ4714666

Yaobin Chen, Jian Huang

Publication date: 22 January 1997

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

Full work available at URL: https://doi.org/10.1080/00207179608921692

zbMATH Keywords

two-point boundary value problemrobotic point-to-point motionstime-optimal control trajectoriestwo-phase continuation algorithm

Mathematics Subject Classification ID

Differential games and control (49N70) Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Pursuit and evasion games (49N75) Optimality conditions for problems involving ordinary differential equations (49K15)

Cites Work

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• Numerical solution of singular control problems using multiple shooting techniques
• A generalized gradient method for optimal control problems with inequality constraints and singular arcs
• Time-optimal motions of robots in assembly tasks
• Simplicial and Continuation Methods for Approximating Fixed Points and Solutions to Systems of Equations
• A hardware implementable two-level parallel computing algorithm for general minimum-time control
• On the problem of the time-optimal manipulator arm turning
• An indirect numerical method for the solution of a class of optimal control problems with singular arcs

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