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

C. K. Kao, A. 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 - 1986

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering

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