Minimum-time pointing control of a two-link manipulator

DOI10.2514/3.25413MaRDI QIDQ3479570zbMATH OpenOpenAlexFDO

Authors Bong Wie, Chien-Hsiung Chung, John W. Sunkel

Publication date 1990

Published in Journal of Guidance, Control, and Dynamics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.2514/3.25413

zbMATH Keywords

first-order necessary conditionsminimizing-boundary-condition methodMinimum-time pointing controlmultibody spacecraftplanar, two-link manipulator

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Orbital mechanics (70M20) Control of mechanical systems (70Q05) Control/observation systems governed by partial differential equations (93C20)

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Cited in

(5)

• The time-optimal control of the bending of a plane two-link mechanism
• Constructing the regions of admissible states of positioning for a two-link manipulator with account of speed constraints
• Time-optimal control of gripper motion in a two-link manipulator with allowance for the terminal configuration
• Energy-optimal trajectory planning for the Pendubot and the Acrobot
• Energy-optimal control of unconstrained planar RR robot manipulators

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