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RESEARCH PAPERS

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

[+] Author and Article Information
C. K. Kao, A. Sinha

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

A. K. Mahalanabis

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

J. Dyn. Sys., Meas., Control 109(4), 320-327 (Dec 01, 1987) (8 pages) doi:10.1115/1.3143861 History: Received May 26, 1987; Online July 21, 2009

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.

Copyright © 1987 by ASME
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