Constructing the regions of admissible states of positioning for a two-link manipulator with account of speed constraints (Q1387009)
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| Language | Label | Description | Also known as |
|---|---|---|---|
| English | Constructing the regions of admissible states of positioning for a two-link manipulator with account of speed constraints |
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Constructing the regions of admissible states of positioning for a two-link manipulator with account of speed constraints (English)
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4 March 1999
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For the mathematical model of a simple planar 2R rigid robotic manipulator subject to time optimal control, the regions in the joint space are constructed to which the joint positions are steered using a minimal number of switchings and respecting predefined joint velocity constraints.
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attainable sets
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planar rigid robotic manipulator
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time optimal control
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minimal number of switchings
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