Abstract
A digital state feedback control algorithm has been developed to obtain the near-minimum-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-plane to permit 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 combinations of initial and final states.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 1888-1896 |
| Number of pages | 9 |
| Journal | Proceedings of the American Control Conference |
| State | Published - 1986 |
All Science Journal Classification (ASJC) codes
- Electrical and Electronic Engineering