Time-Energy Optimal Control of Articulated Systems With Geometric Path Constraints

DOI10.1115/1.2801134zbMATH Open0858.70020OpenAlexW2152616154MaRDI QIDQ4884763FDOQ4884763

Authors: Zvi Shiller 

Publication date: 7 July 1996

Published in: Journal of Dynamic Systems, Measurement, and Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1115/1.2801134

Recommendations

• General structure of time-optimal control of robotic manipulators moving along prescribed paths
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zbMATH Keywords

Pontryagin maximum principlesmooth controlgradient searchtime optimal trajectoryreduced two-dimensional state spacetime-energy optimal trajectorytwo-link planar manipulatorUCLA direct drive arm

Mathematics Subject Classification ID

Differential games and control (49N70) Pursuit and evasion games (49N75) Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85)

Cited In (15)

• Energy-time optimal control of wheeled mobile robots
• Time parametrized motion planning
• Structure of the time-optimal control law for multiple arms handling a common object along specified paths
• Minimum mixed time-energy trajectory planning of a nonlinear vehicle subject to 2D disturbances
• Optimal motion synthesis -- dynamic modelling and numerical solving aspects
• Minimising the User’s Effort during Wheelchair Propulsion using an Optimal Control Problem
• Robot path planning in a constrained workspace by using optimal control techniques
• A non-smooth control law and time-optimality notions for the acrobot
• Oscillation of numerical solution in the Runge-Kutta methods for equation \(x'(t) = ax(t) + a_{0}x([t])\)
• Simplified time-optimal path planning of \(X-Y\) gantry systems along circular paths
• Computation of Path Constrained Time Optimal Motions With Dynamic Singularities
• Combined time and energy optimal trajectory planning with quadratic drag for mixed discrete-continuous task planning
• A light-propagation model for aircraft trajectory planning
• Time optimal motions of mechanical system with a prescribed trajectory
• Feedforward optimal control for precise displacement of a rigid body: minimal electrical energy

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