A study of controllability and time-optimal control of a robot model with drive train compliances and actuator dynamics

The problems of robot controllability and time-optimal control where drive train compliances and actuator dynamics are incorporated in the mathematical model are considered. Conditions that ensure the existence of a time-optimal control, are demonstrated, and controllability of the augmented model (robot and actuator) in open-and-closed-loop form is established. A procedure is described for the derivation of easily computable functional inequalities which represent upper bounds on the norm of the augmented system´s time response