DocumentCode
2168909
Title
Impulsive time-optimal control of underactuated manipulators with impactively blockable degrees of freedom
Author
Yunt, Kerim
Author_Institution
Fac. of Mech. & Process Eng., Swiss Fed. Inst. of Technol., Zurich, Switzerland
fYear
2007
fDate
2-5 July 2007
Firstpage
3977
Lastpage
3984
Abstract
In this work, the necessary conditions for the impulsive optimal control of robotic manipulators with impactively blockable DOF is given. The necessary conditions are derived by applying subdifferential calculus to lower semi-continuous functions. Pontryagin´s Maximum Principle (PMP) like necessary conditions are obtained for the optimal control problem with impactive transitions. An application and numerical results for a two-degree-of-freedom (DOF) planar manipulator is presented.
Keywords
manipulators; maximum principle; PMP; Pontryagin maximum principle; impactively blockable degrees of freedom; impulsive time-optimal control; planar manipulator; robotic manipulators; semi-continuous functions; underactuated manipulators; Equations; Force; Joints; Manipulators; Mechanical systems; Optimal control; Vectors;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (ECC), 2007 European
Conference_Location
Kos
Print_ISBN
978-3-9524173-8-6
Type
conf
Filename
7068836
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