A digital algorithm for near-minimum-time control of robot manipulators

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

Research output: Contribution to journalArticle

6 Scopus citations

Abstract

A digital state feedback control algorithm has been developed to obtain the nearminimum- 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-pIane 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.

Original languageEnglish (US)
Pages (from-to)320-327
Number of pages8
JournalJournal of Dynamic Systems, Measurement and Control, Transactions of the ASME
Volume109
Issue number4
DOIs
StatePublished - Dec 1987

All Science Journal Classification (ASJC) codes

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

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