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 language | English |
|---|---|
| Pages (from-to) | 43-47 |
| Number of pages | 5 |
| Journal | Robotica |
| Volume | 7 |
| Issue number | 1 |
| DOIs | |
| Publication status | Published - Jan 1989 |
All Science Journal Classification (ASJC) codes
- Software
- Control and Systems Engineering
- Mathematics(all)
- Computer Science Applications