Constructing the regions of admissible states of positioning for a two-link manipulator with account of speed constraints

MaRDI QIDQ1387009zbMATH OpenFDO

Authors V. V. Avetisyan, Naira Hovakimyan

Publication date 4 March 1999

Published in Journal of Computer and Systems Sciences International (Search for Journal in Brave)

zbMATH Keywords

attainable setsminimal number of switchingsplanar rigid robotic manipulatortime optimal control

Mathematics Subject Classification ID

Optimal feedback synthesis (49N35) Attainable sets, reachability (93B03) Automated systems (robots, etc.) in control theory (93C85)

Review text

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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Cited in

(2)

• Time-optimal control of gripper motion in a two-link manipulator with allowance for the terminal configuration
• Control of a three-link manipulator with an inequality constraint on the velocity of its end-effector

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