Time-optimal control of robotic manipulators along specified paths

Bobrow, J. E.; Dubowsky, S.; Gibson, J. S.

Affiliations

¹Department of Mechanical Engineering, University of California, Irvine, Irvine, California 92717

²Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, Massachusetts 02139

³Mechanical, Aerospace, and Nuclear Engineering, University of California, Los Angeles, Los Angeles, California 90024

Abstract

The minimum-time manipulator control problem is solved for the case when the path is specified and the actuator torque limitations are known. The optimal open-loop torques are found, and a method is given for implementing these torques with a conventional linear feedback control system. The algorithm allows bounds on the torques that may be arbitrary functions of the joint angles and angular velocities. This method is valid for any path and orientation of the end- effector that is specified. The algorithm can be used for any manipulator that has rigid links, known dynamic equations of motion, and joint angles that can be determined at a given position on the path.

Links

DOI: 10.1177/027836498500400301

WoS: A1985ATS5700002

Cited By (26)

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