DocumentCode
3071212
Title
Remarks on the time-optimal control of two-link manipulators
Author
Sontag, E.D. ; Sussmann, H.J.
Author_Institution
Rutgers University, New Brunswick, NJ
fYear
1985
fDate
11-13 Dec. 1985
Firstpage
1646
Lastpage
1652
Abstract
Various preliminary results are given related to the problem of characterizing singular and time-optimal trajectories for (planar, rigid) two-link robotic manipulators with torque constraints. Most of the results are consequences of the nice Lie-algebraic structure of the corresponding control system.
Keywords
Control systems; Controllability; Equations; Manipulators; Mathematics; Open loop systems; Optimal control; Robot control; Time varying systems; Torque;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1985 24th IEEE Conference on
Conference_Location
Fort Lauderdale, FL, USA
Type
conf
DOI
10.1109/CDC.1985.268795
Filename
4048595
Link To Document