Design of minimum-time optimal motion of multisectional manipulator

MaRDI QIDQ677390zbMATH OpenFDO

Authors Michael Ruzhansky, Sergei V. Gusev

Publication date 29 April 1997

Published in Journal of Computer and Systems Sciences International (Search for Journal in Brave)

zbMATH Keywords

industrial manipulatormaximum principleminimum-timeoptimal controlprogrammed motion

Mathematics Subject Classification ID

Optimality conditions for problems involving ordinary differential equations (49K15) Automated systems (robots, etc.) in control theory (93C85)

Review text

The paper deals with the minimum-time programmed motion of a multisectional, industrial manipulator. The authors present an algorithm of programmed motion, which is based on the reduction of the assumed optimal problem to a known problem of optimal control. The solution is obtained using the Maximum Principle. Efficiency of the proposed method of design of programmed motion is compared with other methods. The paper may be useful in engineering applications.

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(3)

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