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)|
|Number of pages||9|
|Journal||Proceedings of the American Control Conference|
|State||Published - 1986|
All Science Journal Classification (ASJC) codes
- Electrical and Electronic Engineering