A Digital Algorithm for Near-Minimum-Time Control of Robot Manipulators

DOI10.1115/1.3143861MaRDI QIDQ3791024zbMATH OpenOpenAlexFDO

Authors

Publication date 1987

Published in Journal of Dynamic Systems, Measurement, and Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1115/1.3143861

zbMATH Keywords

digital state feedback control algorithmend-effectornear-minimum-time trajectoryrobot manipulatorthree-link manipulator

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05) Control/observation systems governed by ordinary differential equations (93C15) Application models in control theory (93C95)

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Cited in

(4)

• Efficient algorithm for time-optimal control of a two-link manipulator
• scientific article; zbMATH DE number 2117026 (Why is no real title available?)
• Near minimum-time positioning of a flexible beam
• The near time-optimal motion control of robotic manipulators

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