A Digital Algorithm for Near-Minimum-Time Control of Robot Manipulators-Reference-Cited by-同舟云学术

A Digital Algorithm for Near-Minimum-Time Control of Robot Manipulators

Published:1987-12-01 Issue:4 Volume:109 Page:320-327
ISSN:0022-0434
Container-title:Journal of Dynamic Systems, Measurement, and Control
language:en
Short-container-title:

Author:

Kao C. K.¹,Sinha A.¹,Mahalanabis A. K.²

Affiliation:

1. Department of Mechanical Engineering, College of Engineering, The Pennsylavania State University, University Park, PA 16802

2. Department of Electrical Engineering, College of Engineering, The Pennsylavania State University, University Park, PA 16802

Abstract

A digital state feedback control algorithm has been developed to obtain the near-minimum-time trajectory for the end-effector of a robot manipulator. In this algorithm, the poles of the linearized closed loop system are judiciously placed in the Z-plane to permit near-minimum-time response without violating the constraints on the actuator torques. The validity of this algorithm has been established using numerical simulations. A three-link manipulator is chosen for this purpose and the results are discussed for three different combinations of initial and final states.

Publisher

ASME International

Subject

Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering

Link

http://asmedigitalcollection.asme.org/dynamicsystems/article-pdf/109/4/320/5604803/320_1.pdf

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1. Model Based Intelligent Control of a 3-Joint Robotic Manipulator: A Simulation Study Using Artificial Neural Networks;Lecture Notes in Computer Science;2004

2. Toward generating neural network structures for function approximation;Neural Networks;1994-01