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Proceedings Paper

On The Structure Of The Time-Optimal Control Of Robot Arms
Author(s): Yaobin Chen; Alan A. Desrochers
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Paper 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

Paper Details

Date Published: 19 February 1988
PDF: 10 pages
Proc. SPIE 0848, Intelligent Robots and Computer Vision VI, (19 February 1988); doi: 10.1117/12.942794
Show Author Affiliations
Yaobin Chen, Rensselaer Polytechnic Institute (United States)
Alan A. Desrochers, Rensselaer Polytechnic Institute (United States)

Published in SPIE Proceedings Vol. 0848:
Intelligent Robots and Computer Vision VI
David P. Casasent; Ernest L. Hall, Editor(s)

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