DocumentCode
1377054
Title
On the structure of the time-optimal controls for robotic manipulators
Author
Chen, Yao-Chon
Author_Institution
Dept. of Electr. Eng., Ryersson Polytech. Inst., Toronto, Ont., Canada
Volume
34
Issue
1
fYear
1989
fDate
1/1/1989 12:00:00 AM
Firstpage
115
Lastpage
116
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;
fLanguage
English
Journal_Title
Automatic Control, IEEE Transactions on
Publisher
ieee
ISSN
0018-9286
Type
jour
DOI
10.1109/9.8663
Filename
8663
Link To Document