Minimum-time control of flexible joints with input and output constraints

Author

Consolini, Luca ; Gerelli, Oscar ; Bianco, Corrado Guarino Lo ; Piazzi, Aurelio

Author_Institution

Dip. di Ing. dell´´ Informazione, Parma Univ.

fYear

2007

fDate

10-14 April 2007

Firstpage

3811

Lastpage

3816

Abstract

The paper proposes a linear programming approach to the feedforward minimum-time control of flexible joints. Taking into account both input and output constraints, the optimal bang-bang control is computed by discretizing a continuous-time joint model and by solving a sequence of linear programming feasibility problems. The resulting joint motion is a smooth rest-to-rest motion without oscillations. Experimental results illustrate the proposed open-loop technique.

Keywords

bang-bang control; continuous time systems; feedforward; linear programming; minimisation; motion control; open loop systems; robots; time optimal control; continuous-time joint model; feedforward minimum-time control; flexible joints; input-output constraints; joint motion control; linear programming; open-loop technique; optimal bang-bang control; Automatic control; Control system synthesis; Control systems; Linear programming; Open loop systems; Optimal control; Robotics and automation; Robots; Springs; Testing;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2007 IEEE International Conference on

Conference_Location

Roma

ISSN

1050-4729

Print_ISBN

1-4244-0601-3

Electronic_ISBN

1050-4729

Type

conf

DOI

10.1109/ROBOT.2007.364063

Filename

4209681