### 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 language | English (US) |
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Pages (from-to) | 1888-1896 |

Number of pages | 9 |

Journal | Proceedings of the American Control Conference |

State | Published - 1986 |

### All Science Journal Classification (ASJC) codes

- Electrical and Electronic Engineering

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## Cite this

Kao, C. K., Sinha, A., & Mahalanabis, A. K. (1986). DIGITAL ALGORITHM FOR NEAR-MINIMUM-TIME CONTROL OF ROBOT MANIPULATORS.

*Proceedings of the American Control Conference*, 1888-1896.