Time Optimal Control of Balanced Manipulators

[+] Author and Article Information
W. S. Newman

Department ot Electrical Engineering and Applied Physics, Case Western Reserve University, Cleveland, Ohio

N. Hogan

Department Of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, Mass.

J. Dyn. Sys., Meas., Control 111(2), 187-193 (Jun 01, 1989) (7 pages) doi:10.1115/1.3153035 History: Received September 01, 1986; Revised April 01, 1988; Online July 21, 2009


An efficient algorithm is presented for solving time-optimal control for a restricted class of manipulators: balanced, decoupled manipulators. It is shown how the dynamics of such manipulators are sufficiently simple that optimal control solutions for point-to-point moves can be found analytically. A change of coordinates is proposed in which the more difficult problem of time-optimal interception of moving targets can be solved efficiently. A fast algorithm is described for computing and updating optimal interception solutions on line.

Copyright © 1989 by ASME
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