Minimum-time control laws for robotic manipulators
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Publication:4036106
DOI10.1080/00207179308934376zbMath0817.93047MaRDI QIDQ4036106
Alan A. Desrochers, Yaobin Chen
Publication date: 16 May 1993
Published in: International Journal of Control (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1080/00207179308934376
path planning; perturbative methods; minimum-time control; dynamic scaling; design specifications; Hamiltonian canonical formulation; rigid robotic manipulators; nonsingular optimal control
93B51: Design techniques (robust design, computer-aided design, etc.)
93C73: Perturbations in control/observation systems
93C85: Automated systems (robots, etc.) in control theory
70H05: Hamilton's equations
49N05: Linear optimal control problems
Cites Work
- Suboptimal control of industrial manipulators with a weighted minimum time-fuel criterion
- Dynamic Scaling of Manipulator Trajectories
- Optimal control of systems with hard control bounds
- Time-optimal motions of robots in assembly tasks
- On the structure of the time-optimal controls for robotic manipulators