Time-Optimal Control of Robotic Manipulators Along Specified Paths

The minimum-time manipulator control problem is solved for the case when the path is specified and the actuator torque limitations are known. The optimal open-loop torques are found, and a method is given for implementing these torques with a conventional linear feedback control system. The algorithm allows bounds on the torques that may be arbitrary functions of the joint angles and angular velocities. This method is valid for any path and orientation of the end- effector that is specified. The algorithm can be used for any manipulator that has rigid links, known dynamic equations of motion, and joint angles that can be determined at a given position on the path.

[1]  Donald E. Kirk,et al.  Optimal Control Theory , 1970 .

[2]  G. Leitmann.  An Introduction To Optimal Control , 1966 .

[3]  Steven Dubowsky,et al.  The application of model-referenced adaptive control to robotic manipulators , 1979 .

[4]  A. Guez.  Optimal control of robotic manipulators , 1983 .

[5]  N. G. Parke,et al.  Ordinary Differential Equations. , 1958 .

[6]  J. S. Luh,et al.  Mininum-time along the path for a mechanical arm , 1977, 1977 IEEE Conference on Decision and Control including the 16th Symposium on Adaptive Processes and A Special Symposium on Fuzzy Set Theory and Applications.

[7]  Steven Dubowsky,et al.  Optimal Dynamic Trajectories for Robotic Manipulators , 1985 .

[8]  Katsuhiko Ogata,et al.  Modern Control Engineering , 1970 .

[9]  S. Dubowsky,et al.  On the Optimal Control of Robotic Manipulators with Actuator Constraints , 1983, 1983 American Control Conference.

[10]  Bernard Roth,et al.  The Near-Minimum-Time Control Of Open-Loop Articulated Kinematic Chains , 1971 .

[11]  Lynch.  Minimum time, sequential axis operation of a cylindrical, two axis manipulator , 1981 .

[12]  David M. Auslander,et al.  Optimal Control of a Robot with Obstacles , 1984, 1984 American Control Conference.

[13]  Kang G. Shin,et al.  Open-loop minimum-time control of mechanical manipulators and its application , 1984 .

[14]  J. Hollerbach.  Dynamic Scaling of Manipulator Trajectories , 1983, 1983 American Control Conference.

[15]  C. Lin,et al.  Optimum Path Planning for Mechanical Manipulators , 1981 .

[16]  Naresh K. Sinha,et al.  Adaptive control of an industrial robot , 1986, Robotica.

[17]  J. C. Burkill,et al.  Ordinary Differential Equations , 1964 .