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
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;
Conference_Titel :
Decision and Control, 1985 24th IEEE Conference on
Conference_Location :
Fort Lauderdale, FL, USA
DOI :
10.1109/CDC.1985.268795
