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

M. Yamamoto, A. Mohri

研究成果: ジャーナルへの寄稿記事

8 引用 (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.

元の言語英語
ページ(範囲)43-47
ページ数5
ジャーナルRobotica
7
発行部数1
DOI
出版物ステータス出版済み - 1 1989

Fingerprint

Bang-bang Control
Robot Manipulator
Manipulators
Trajectories
Planning
Robots
Trajectory
Manipulator
Singular Control
Trajectory Planning
Maximum principle
Maximum Principle
Torque
Nonlinear systems
Control Problem
Nonlinear Systems
Optimal Solution
Decrease

All Science Journal Classification (ASJC) codes

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

これを引用

Planning of quasi-minimum time trajectories for robot manipulators (Generation of a bang-bang control). / Yamamoto, M.; Mohri, A.

:: Robotica, 巻 7, 番号 1, 01.1989, p. 43-47.

研究成果: ジャーナルへの寄稿記事

@article{e041a47a1c844035ab55dd459e855a0c,
title = "Planning of quasi-minimum time trajectories for robot manipulators (Generation of a bang-bang control)",
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.",
author = "M. Yamamoto and A. Mohri",
year = "1989",
month = "1",
doi = "10.1017/S0263574700005026",
language = "English",
volume = "7",
pages = "43--47",
journal = "Robotica",
issn = "0263-5747",
publisher = "Cambridge University Press",
number = "1",

}

TY - JOUR

T1 - Planning of quasi-minimum time trajectories for robot manipulators (Generation of a bang-bang control)

AU - Yamamoto, M.

AU - Mohri, A.

PY - 1989/1

Y1 - 1989/1

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=0024304269&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0024304269&partnerID=8YFLogxK

U2 - 10.1017/S0263574700005026

DO - 10.1017/S0263574700005026

M3 - Article

AN - SCOPUS:0024304269

VL - 7

SP - 43

EP - 47

JO - Robotica

JF - Robotica

SN - 0263-5747

IS - 1

ER -