Title :
The number of saturated actuators and constraint forces during time-optimal movement of a general robotic system
Author :
McCarthy, J.M. ; Bobrow, J.E.
Author_Institution :
Dept. of Mech. & Aerosp. Eng., California Univ., Irvine, CA, USA
fDate :
6/1/1992 12:00:00 AM
Abstract :
It is proved that if the dynamics of a general robot system are defined by n coordinates, m differential constraint equations, and p actuators, then some combination of at least L=m+p+1-n of the actuators and internal constraint forces are saturated during a time-optimal movement of the system along a prescribed path. The result applies to a general class of dynamic systems with both holonomic and nonholonomic constraints
Keywords :
actuators; dynamics; optimal control; robots; constraint forces; dynamics; general robotic system; holonomic constraints; nonholonomic constraints; robots; saturated actuators; time-optimal movement; Acceleration; Constraint theory; Differential equations; Hydraulic actuators; Linear programming; Milling machines; Orbital robotics; Robot kinematics; Robotics and automation; Torque;
Journal_Title :
Robotics and Automation, IEEE Transactions on
