• DocumentCode
    486201
  • 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
  • fYear
    1985
  • fDate
    19-21 June 1985
  • Firstpage
    61
  • Lastpage
    62
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    American Control Conference, 1985
  • Conference_Location
    Boston, MA, USA
  • Type

    conf

  • Filename
    4788579
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=486201