Title :
On the problem of the time-optimal manipulator arm turning
Author :
Sky, A. M Formal ; Osipov, S.N.
Author_Institution :
Inst. of Mech., Moscow Univ., USSR
fDate :
6/1/1990 12:00:00 AM
Abstract :
Two kinds of manipulators making spatial movements are discussed. The problem of control which provides manipulator turning in the minimum possible time is considered. A control, satisfying the maximum principle of Pontryagin, has been designed for some set of boundary configurations. With this control a manipulator link in the process of turning oscillates around a position, corresponding to a minimum moment of inertia of a system with respect to an axis of rotation. Movement satisfying the maximum principle is compared to that for which the moment of inertia is minimal within the entire interval of time. The simplified equations as well as the complete ones are investigated
Keywords :
optimal control; position control; robots; Pontryagin maximum principle; arm turning; axis of rotation; manipulator; moment of inertia; position control; robots; spatial movements; time-optimal control; Force control; Force measurement; Manipulator dynamics; Milling machines; Position control; Robot control; Robot kinematics; Robustness; Stability; Turning;
Journal_Title :
Automatic Control, IEEE Transactions on
