On singular time-optimal control along specified paths

Author

Shiller, Zvi

Author_Institution

Dept. of Mech. Aerosp. & Nucl. Eng., California Univ., Los Angeles, CA, USA

Volume

10

Issue

4

fYear

1994

fDate

8/1/1994 12:00:00 AM

Firstpage

561

Lastpage

566

Abstract

This paper presents a general necessary condition for singular time optimal control of robotic manipulation moving along specified paths. Early work by Bobrow-Dubowsky (1985) and Shin-McKay (1985) ignored the issue of singular control, assuming bang-bang acceleration along the path. Recent work by Shiller-Lu (1992) has shown that the time optimal control can be singular if one of the equations of motion reduces to a velocity constraint. This paper derives a more general necessary condition for singular control. It is also proven that singular control cannot exist if the set of admissible controls is strictly convex, as is demonstrated for a two-link planar manipulator with elliptical actuator constraints

Keywords

optimal control; optimisation; position control; robots; velocity control; elliptical actuator constraints; motion equation; necessary condition; path optimisation; robots; singular control; time optimal control; two link planar manipulator; velocity constraint; Acceleration; Actuators; Equations; Optimal control; Orbital robotics; Petri nets; Robot kinematics; Robotics and automation; State estimation; Stochastic processes;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.313107

Filename

313107