Planning of quasi-minimum time trajectories for robot manipulators (Generation of a bang-bang control)

M. Yamamoto, A. Mohri

Research output: Contribution to journalArticle

8 Citations (Scopus)

Abstract

A method for planning minimum time joint trajectories for robot manipulators is discussed. The minimum time trajectory planning problem for manipulators is one of the minimum time control problems of non-linear systems. The optimal input torque/force is of a bang-bang type, except for the singular control derived from the Maximum Principle. An algorithm for generating a bang-bang control is proposed. In the algorithm, the switching time vector is updated to decrease the final state error. The proposed algorithm is applied to a simple manipulator with two links, and the solution by this algorithm is compared with the sub-optimal solution obtained by another approximate method.

Original languageEnglish
Pages (from-to)43-47
Number of pages5
JournalRobotica
Volume7
Issue number1
DOIs
Publication statusPublished - Jan 1989

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Mathematics(all)
  • Computer Science Applications

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