The near time-optimal motion control of robotic manipulators

DOI10.1016/0016-0032(90)90083-UzbMath0704.70026OpenAlexW1990892630MaRDI QIDQ917357

Devendra P. Garg, Jun Yang

Publication date: 1990

Published in: Journal of the Franklin Institute (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/0016-0032(90)90083-u

zbMATH Keywords

trajectoryCartesian spacenear time-optimal motion control of robotic manipulatorsPUMA 560 three degree-of-freedom industrial robotquintic polynomial

Mathematics Subject Classification ID

Application models in control theory (93C95) Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15)

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Cites Work

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• Existence of an optimal control for stochastic systems governed by Ito equations
• Minimum-time control of robotic manipulators with geometric path constraints
• Suboptimal control of industrial manipulators with a weighted minimum time-fuel criterion
• Pointwise-Optimal Control of Robotic Manipulators
• Adaptive Tracking Control of an Air Powered Robot Actuator