DocumentCode
820778
Title
The number of saturated actuators and constraint forces during time-optimal movement of a general robotic system
Author
McCarthy, J.M. ; Bobrow, J.E.
Author_Institution
Dept. of Mech. & Aerosp. Eng., California Univ., Irvine, CA, USA
Volume
8
Issue
3
fYear
1992
fDate
6/1/1992 12:00:00 AM
Firstpage
407
Lastpage
409
Abstract
It is proved that if the dynamics of a general robot system are defined by n coordinates, m differential constraint equations, and p actuators, then some combination of at least L =m +p +1-n of the actuators and internal constraint forces are saturated during a time-optimal movement of the system along a prescribed path. The result applies to a general class of dynamic systems with both holonomic and nonholonomic constraints
Keywords
actuators; dynamics; optimal control; robots; constraint forces; dynamics; general robotic system; holonomic constraints; nonholonomic constraints; robots; saturated actuators; time-optimal movement; Acceleration; Constraint theory; Differential equations; Hydraulic actuators; Linear programming; Milling machines; Orbital robotics; Robot kinematics; Robotics and automation; Torque;
fLanguage
English
Journal_Title
Robotics and Automation, IEEE Transactions on
Publisher
ieee
ISSN
1042-296X
Type
jour
DOI
10.1109/70.143358
Filename
143358
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