DocumentCode
3077207
Title
Exact closed-form optimal solution for constrained trajectory control of single-link flexible-joint manipulators
Author
Chen, Guanrong
Author_Institution
Dept. of Electr. Eng., Houston Univ., TX, USA
fYear
1990
fDate
5-7 Dec 1990
Firstpage
2566
Abstract
A single-link flexible-joint manipulator is considered. An analytic closed-form optimal solution is obtained for the nonlinear constrained optimal trajectory planning problem. The optimal solution turns out to be exact in the sense that no approximation is applied
Keywords
nonlinear control systems; optimal control; position control; robots; closed-form optimal solution; flexible-joint; manipulators; nonlinear control systems; robots; trajectory control; Acceleration; Actuators; Damping; Gravity; Nonlinear equations; Nonlinear systems; Optimal control; Shafts; Springs; Vectors;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1990., Proceedings of the 29th IEEE Conference on
Conference_Location
Honolulu, HI
Type
conf
DOI
10.1109/CDC.1990.203522
Filename
203522
Link To Document