On The Structure Of The Time-Optimal Control Of Robot Arms

Yaobin Chen; Alan A. Desrochers

doi:10.1117/12.942794

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19 February 1988 On The Structure Of The Time-Optimal Control Of Robot Arms

Yaobin Chen, Alan A. Desrochers

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Proceedings Volume 0848, Intelligent Robots and Computer Vision VI; (1988) https://doi.org/10.1117/12.942794
Event: Advances in Intelligent Robotics Systems, 1987, Cambridge, CA, United States

Abstract

The time-optimal control problem with hard control bounds has long been of interest to control engineers and researchers. For linear systems, under suitable conditions, such as normality and controllability, the time-optimal control can be shown to be of the bang-bang type. Much of the theoretical study of this problem has been limited to linear systems. In this paper the problem of determining the structure of the minimum-time control for robotic manipulators is addressed. We derive an alternate dynamic model for a robot arm using state variables based on the Hamiltonian Canonical equations. We then show that the structure of the minimum time control law requires that at least one of the actuators is always in saturation while the others adjust their torques so that some constraints on the motion are not violated while enabling the manipulator to achieve its

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Yaobin Chen and Alan A. Desrochers "On The Structure Of The Time-Optimal Control Of Robot Arms", Proc. SPIE 0848, Intelligent Robots and Computer Vision VI, (19 February 1988); https://doi.org/10.1117/12.942794

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