DIGITAL ALGORITHM FOR NEAR-MINIMUM-TIME CONTROL OF ROBOT MANIPULATORS.

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

Research output: Contribution to journalConference article

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 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 combinations of initial and final states.

Original languageEnglish (US)
Pages (from-to)1888-1896
Number of pages9
JournalProceedings of the American Control Conference
StatePublished - Jan 1 1986

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Manipulators
Robots
End effectors
State feedback
Closed loop systems
Feedback control
Poles
Actuators
Torque
Trajectories
Computer simulation

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering

Cite this

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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 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 combinations of initial and final states.",
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DIGITAL ALGORITHM FOR NEAR-MINIMUM-TIME CONTROL OF ROBOT MANIPULATORS. / Kao, C. K.; Sinha, Alok; Mahalanabis, A. K.

In: Proceedings of the American Control Conference, 01.01.1986, p. 1888-1896.

Research output: Contribution to journalConference article

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T1 - DIGITAL ALGORITHM FOR NEAR-MINIMUM-TIME CONTROL OF ROBOT MANIPULATORS.

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AU - Sinha, Alok

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