Abstract
A digital state feedback control algorithm has been developed to obtain the nearminimum- time trajectory for the end-effector of a robot manipulator. In this algorithm, the poles of the linearized closed loop system are judiciously placed in the Z-pIane to permit near-minimum-time response without violating the constraints on the actuator torques. The validity of this algorithm has been established using numerical simulations. A three-link manipulator is chosen for this purpose and the results are discussed for three different combinations of initial and final states.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 320-327 |
| Number of pages | 8 |
| Journal | Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME |
| Volume | 109 |
| Issue number | 4 |
| DOIs | |
| State | Published - Dec 1987 |
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Information Systems
- Instrumentation
- Mechanical Engineering
- Computer Science Applications