Time optimal control of manipulators with limit heat characteristics of actuators

We propose a time-optimal control scheme for the manipulator to track a predefined geometric path, subject to constraints due to the limit heat characteristics of actuators (DC motor was assumed to be used as actuator). The generated heat of DC motor is considered as the driven bound, and the time-optimal trajectories are generated in this bound. Computer simulation was also performed to demonstrate the effectiveness of the proposed scheme with comparison to the former schemes subject to torque and velocity bounds