scientific article; zbMATH DE number 1049486

DOI10.1002/(SICI)1097-4563(199604)13:4%3C229::AID-ROB4%3E3.0.CO;2-TMaRDI QIDQ4348598zbMATH OpenFDO

Authors Li-Chun T. Wang, Ming Jun Kuo

Publication date 1 June 1998

zbMATH Keywords

generalized dynamic equationiterative search procedureoptimal control torquesoptimal velocity distributionparametric dynamic equationphase-plane switching curve approach

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05)

Recommendations

• Structure of the time-optimal control law for multiple arms handling a common object along specified paths
• Time-optimal constant speed motion program for multiple cooperating manipulators
• On the structure of the minimum-time control law for multiple robot arms handling a common object
• Existence and structure of minimum-time control for multiple robot arms handling a common object
• Minimum-time trajectory planning of mechanical manipulators under dynamic constraints

Cites work

• A Method for Optimal Synthesis of Manipulation Robot Trajectories
• Computation of Path Constrained Time Optimal Motions With Dynamic Singularities
• Dynamic Scaling of Manipulator Trajectories
• Formulation and optimization of cubic polynomial joint trajectories for industrial robots
• Minimum-time control of robotic manipulators with geometric path constraints
• On the structure of the minimum-time control law for multiple robot arms handling a common object
• On the velocity and acceleration snalyses of general parallel robotic manipulators
• Optimal Trajectory Generation for Robotic Manipulators Using Dynamic Programming
• Reduced Order Model and Decoupled Control Architecture for Two Manipulators Holding a Rigid Object
• Stabilization of constraints and integrals of motion in dynamical systems
• Structure of the time-optimal control law for multiple arms handling a common object along specified paths
• Suboptimal control of industrial manipulators with a weighted minimum time-fuel criterion

Cited in

(6)

• On the existence of time-optimal control of mechanical manipulators
• Structure of the time-optimal control law for multiple arms handling a common object along specified paths
• Time-optimal constant speed motion program for multiple cooperating manipulators
• Cell-to-cell mapping method for time-optimal trajectory planning of multiple robot arm systems
• Predefined‐time control of cooperative manipulators
• Optimal Coordination of Robot Motions with Positioner and Linear Track in a Fiber Placement Workcell

Describes a project that uses

Uses Software

• OSL

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