A new optimization algorithm for singular and non-singular digital time-optimal control of robots

Author

Hol, C.W.J. ; Van Willigenburg, L.G. ; van Henten, E.J. ; van Straten, G.

Author_Institution

Syst. & Control Group, Wageningen Univ., Netherlands

Volume

2

fYear

2001

fDate

2001

Firstpage

1136

Abstract

Time-optimal controls for 2-link robots are often of bang-bang type. Many algorithms to solve time-optimal robot control problems a-priori assume the optimal control to be bang-bang. Industrial robots very often have 5 or 6 links and then the associated time-optimal controls are usually singular. This paper presents a new algorithm that enables computation of both bang-bang and singular time-optimal controls for robots. The algorithm uses both the conjugate gradient and Gauss-Newton method to enhance its efficiency and does not require state-parameterization, which introduces additional errors. The algorithm is used to compute time-optimal controls for an industrial 5-link robot model including gravity and viscous friction.

Keywords

bang-bang control; conjugate gradient methods; industrial robots; optimisation; robot dynamics; time optimal control; Gauss-Newton method; bang-bang control; conjugate gradient; dynamics; industrial robots; optimization; time-optimal control; Computer industry; Digital control; Gravity; Industrial control; Least squares methods; Newton method; Optimal control; Recursive estimation; Robot control; Service robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-6576-3

Type

conf

DOI

10.1109/ROBOT.2001.932764

Filename

932764