Structure of the time-optimal control law for multiple arms handling a common object along specified paths

DOI10.1109/9.256404MaRDI QIDQ4030776zbMATH OpenOpenAlexFDO

Authors Yaobin Chen

Publication date 1 April 1993

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

Full work available at URL https://doi.org/10.1109/9.256404

zbMATH Keywords

multiple robot armsnumerical exampletime-optimal control

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85)

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• Cell-to-cell mapping method for time-optimal trajectory planning of multiple robot arm systems
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• On the structure of the minimum-time control law for multiple robot arms handling a common object
• Time-optimal constant speed motion program for multiple cooperating manipulators
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