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

M. Yamamoto, A. Mohri

研究成果: Contribution to journalArticle査読

8 被引用数 (Scopus)

抄録

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.

本文言語英語
ページ(範囲)43-47
ページ数5
ジャーナルRobotica
7
1
DOI
出版ステータス出版済み - 1 1989

All Science Journal Classification (ASJC) codes

  • ソフトウェア
  • 制御およびシステム工学
  • 数学 (全般)
  • コンピュータ サイエンスの応用

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