Constructing the regions of admissible states of positioning for a two-link manipulator with account of speed constraints (Q1387009)
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scientific article; zbMATH DE number 1158030
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| English | Constructing the regions of admissible states of positioning for a two-link manipulator with account of speed constraints |
scientific article; zbMATH DE number 1158030 |
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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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0.7636705636978149
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0.7461382746696472
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0.7273027300834656
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0.7235515117645264
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