• DocumentCode
    2532658
  • Title

    Time-optimal control of manipulators

  • Author

    Sontag, Eduardo D. ; Sussmann, Hector J.

  • Author_Institution
    The State University, New Brunswick, NJ
  • Volume
    3
  • fYear
    1986
  • fDate
    31503
  • Firstpage
    1692
  • Lastpage
    1697
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Robotics and Automation. Proceedings. 1986 IEEE International Conference on
  • Type

    conf

  • DOI
    10.1109/ROBOT.1986.1087463
  • Filename
    1087463
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2532658