Near-minimum-time control of a flexible one-link robot.

Alok Sinha, Sanjeev Mittal

    Research output: Contribution to journalArticle

    2 Scopus citations

    Abstract

    A digital algorithm is developed to obtain a feedforward function which not only yields near-minimum-time trajectory but also damps out vibration in the controlled modes of a flexible one-link robot. The results of numerical simulations are presented for links with two different sets of parameters. It is found that the move-time for this algorithm is close to that for the time-optimal control. The effects of control-spillover, which result in residual vibration, are small.

    Original languageEnglish (US)
    Pages (from-to)74-82
    Number of pages9
    JournalProceedings of the American Control Conference
    Volume88 pt 1-3
    Publication statusPublished - 1988

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    All Science Journal Classification (ASJC) codes

    • Control and Systems Engineering

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