Efficient algorithm for time-optimal control of a two-link manipulator

1990 ◽  
Vol 13 (5) ◽  
pp. 859-866 ◽  
Author(s):  
Elke-Barbara Meier ◽  
Arthur E. Bryson
Keyword(s):  
Optimal Control ◽  
Efficient Algorithm ◽  
Time Optimal Control ◽  
Time Optimal

Time Optimal Control of Balanced Manipulators

1989 ◽  
Vol 111 (2) ◽  
pp. 187-193 ◽  
Author(s):  
W. S. Newman ◽  
N. Hogan
Keyword(s):  
Optimal Control ◽  
Efficient Algorithm ◽  
Difficult Problem ◽  
Time Optimal Control ◽  
Restricted Class ◽  
Moving Targets ◽  
Problem Of Time ◽  
Time Optimal ◽  
On Line ◽  
Point To Point

An efficient algorithm is presented for solving time-optimal control for a restricted class of manipulators: balanced, decoupled manipulators. It is shown how the dynamics of such manipulators are sufficiently simple that optimal control solutions for point-to-point moves can be found analytically. A change of coordinates is proposed in which the more difficult problem of time-optimal interception of moving targets can be solved efficiently. A fast algorithm is described for computing and updating optimal interception solutions on line.

Sign in / Sign up

Export Citation Format

Share Document