Title :
On the structure of the time-optimal controls for robotic manipulators
Author_Institution :
Dept. of Electr. Eng., Ryersson Polytech. Inst., Toronto, Ont., Canada
fDate :
1/1/1989 12:00:00 AM
Abstract :
An alternative proof is presented of the fact that the time-optimal controls for (rigid) robotic manipulators can never be singular simultaneously
Keywords :
optimal control; robots; rigid manipulators; robotic manipulators; time-optimal controls; Automatic control; Control systems; Councils; Equations; Force control; Manipulators; Motion control; Robot control; Robot kinematics; Robotics and automation;
Journal_Title :
Automatic Control, IEEE Transactions on
