Title :
Sub-Optimal Control Strategies for Manipulators with Actuator Constraints: The Near Minimum Time Problem
Author :
Jayasuriya, Suhada ; Suh, Moon-Suk
Author_Institution :
Department of Mechanical Engineering, Michigan State University, East Lansing, MI 48824
Abstract :
In this paper, we investigate the feasibility of employing a sub-optimal control strategy which results in "near minimum time" motion for a robotic manipulator along any pre-determined path in 3-D space. A computationally simple algorithm based on Optimal Aiming Strategies is presented. The applicability of the proposed algorithm is demonstrated through a two-link manipulator example.
Keywords :
Acceleration; Actuators; Equations; Manipulator dynamics; Mechanical engineering; Motion control; Orbital robotics; Q measurement; Torque; Velocity control;
Conference_Titel :
American Control Conference, 1985
Conference_Location :
Boston, MA, USA
