• DocumentCode
    487207
  • Title

    Near-Minimum-Time Control of a Flexible One-Link Robot

  • Author

    Sinha, Alok ; Mittal, Sanjeev

  • Author_Institution
    Department of Mechanical Engineering, The Pennsylvania State University, University Park, PA 16802
  • fYear
    1988
  • fDate
    15-17 June 1988
  • Firstpage
    74
  • Lastpage
    82
  • Abstract
    In this paper, a digital algorithm is developed to obtain a feedforward function which not only yields near-minimum-time trajectory but also damps out vibration in the controlled modes of a flexible one-link robot. The results from numerical simulations are presented for links with two different sets of parameters. It is found that the `move-time´ for this algorithm is close to that for the time-optimal control. Also, the effects of control-spillover phenomenon which result in residual vibration are small.
  • Keywords
    Control systems; Mechanical engineering; Optimal control; Robots; Sampling methods; Shape control; State feedback; Torque control; Vibration control; Weight control;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    American Control Conference, 1988
  • Conference_Location
    Atlanta, Ga, USA
  • Type

    conf

  • Filename
    4789696
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=487207