论文信息 - Remarks on the time-optimal control of two-link manipulators

Remarks on the time-optimal control of two-link manipulators

Various preliminary results are given related to the problem of characterizing singular and time-optimal trajectories for (planar, rigid) two-link robotic manipulators with torque constraints. Most of the results are consequences of the nice Lie-algebraic structure of the corresponding control system.

Eduardo Sontag | H. Sussmann

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