Title :
Time optimal control of robots based on heuristic method
Author :
Gawlowicz, Piotr
Author_Institution :
Dept. of Manage. Syst, Tech. Univ. of Zielona Gora, Poland
Abstract :
This paper deals with the time optimal motion planning of a robot in the presence of geometrical constraints. The time optimal controls are derived on the basis of the Pontryagin´s maximum principle. The bang-bang types of controls are obtained. An analysis of the control of manipulator motion planning and a sequence of switching is included
Keywords :
bang-bang control; manipulator dynamics; maximum principle; optimisation; path planning; time optimal control; Pontryagin maximum principle; bang-bang control; dynamic models; geometrical constraints; heuristic method; motion planning; robot manipulators; switching sequences; time optimal control; Equations; Manipulator dynamics; Motion planning; Optimal control; Orbital robotics; Robots; Solid modeling; Time factors; Trajectory; Transmission line matrix methods;
Conference_Titel :
Robot Motion and Control, 1999. RoMoCo '99. Proceedings of the First Workshop on
Conference_Location :
Kiekrz
Print_ISBN :
0-7803-5655-1
DOI :
10.1109/ROMOCO.1999.791073
