Title :
Time-optimal control of manipulators
Author :
Sontag, Eduardo D. ; Sussmann, Hector J.
Author_Institution :
The State University, New Brunswick, NJ
Abstract :
This paper studies time-optimal control questions for a certain class of nonlinear systems. This class includes a large number of mechanical systems, in particular, rigid robotic manipulators with torque constraints. As nonlinear systems, these systems have many properties that are false for generic systems of the same dimensions.
Keywords :
Algebra; Control system synthesis; Differential equations; Manipulators; Mechanical systems; Nonlinear equations; Nonlinear systems; Open loop systems; Optimal control; Robots;
Conference_Titel :
Robotics and Automation. Proceedings. 1986 IEEE International Conference on
DOI :
10.1109/ROBOT.1986.1087463
