Title :
On the structure of time-optimal trajectories for manipulators: the two d.o.f. case
Author_Institution :
Programa de Engenharia Electr., COPP, Rio de Janeiro, Brazil
Abstract :
The author considers the structure of solutions in time-optimal point to point motion for rigid manipulators. An analytic approach is presented based on the specific structure of two-link rigid manipulators. Partial results on regularity and the reduction of the number of types of solutions in comparison with the general affine problem are discussed. First, the Hamiltonian form of the dynamic model of manipulators is briefly recalled. The three kinds of candidate controls for general affine systems are presented. Generic properties of n-link manipulators related to their nice Lie-algebraic structure are considered. An original approach based on the existence of a cyclic generalized coordinate is shown to be fruitful and leads to a deeper analysis in the case of two degree-of-freedom (DOF) manipulators
Keywords :
Lie algebras; control system analysis; manipulators; optimal control; position control; 2DOF rigid manipulators; Hamiltonian form; Lie-algebraic structure; candidate controls; cyclic generalized coordinate; dynamic model; general affine systems; point to point motion; robots; time-optimal trajectories; Actuators; Computer aided software engineering; Control system synthesis; Control systems; Feedback control; Manipulator dynamics; Nonlinear systems; Optimal control; Pathology; Portable media players;
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
DOI :
10.1109/ROBOT.1992.219971
