On the structure of the time-optimal controls for robotic manipulators

DOI10.1109/9.8663zbMath0659.93047OpenAlexW1986590518MaRDI QIDQ3809682

Yaochon Chen

Publication date: 1989

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1109/9.8663

zbMATH Keywords

robotic manipulatorstime-optimal controls

Mathematics Subject Classification ID

Application models in control theory (93C95) Control of mechanical systems (70Q05) Existence of optimal solutions belonging to restricted classes (Lipschitz controls, bang-bang controls, etc.) (49J30) Control/observation systems governed by ordinary differential equations (93C15)

Related Items (4)

Computation of time-optimal controls applied to rigid manipulators with friction ⋮ Stable observer-based trajectory controller for asymptotic model matching of a rigid robot ⋮ Cell-to-cell mapping method for time-optimal trajectory planning of multiple robot arm systems ⋮ Minimum-time control laws for robotic manipulators

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