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

Alok Sinha, Sanjeev Mittal

Research output: Contribution to journalConference articlepeer-review

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
DOIs
StatePublished - 1988

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering

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