Near-minimum-time control of a flexible one-link robot.

Alok Sinha; Sanjeev Mittal

doi:10.23919/acc.1988.4789696

Near-minimum-time control of a flexible one-link robot.

Alok Sinha
, Sanjeev Mittal

Research output: Contribution to journal › Conference article › peer-review

4 Scopus citations

Abstract

A digital algorithm is developed to obtain a feedforward function which not only yields near-minimum-time trajectory but also damps out vibration in the controlled modes of a flexible one-link robot. The results of numerical simulations are presented for links with two different sets of parameters. It is found that the move-time for this algorithm is close to that for the time-optimal control. The effects of control-spillover, which result in residual vibration, are small.

Original language	English (US)
Pages (from-to)	74-82
Number of pages	9
Journal	Proceedings of the American Control Conference
Volume	88 pt 1-3
DOIs	https://doi.org/10.23919/acc.1988.4789696
State	Published - 1988

All Science Journal Classification (ASJC) codes

Electrical and Electronic Engineering

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10.23919/acc.1988.4789696

Cite this

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title = "Near-minimum-time control of a flexible one-link robot.",

abstract = "A digital algorithm is developed to obtain a feedforward function which not only yields near-minimum-time trajectory but also damps out vibration in the controlled modes of a flexible one-link robot. The results of numerical simulations are presented for links with two different sets of parameters. It is found that the move-time for this algorithm is close to that for the time-optimal control. The effects of control-spillover, which result in residual vibration, are small.",

author = "Alok Sinha and Sanjeev Mittal",

year = "1988",

doi = "10.23919/acc.1988.4789696",

language = "English (US)",

volume = "88 pt 1-3",

pages = "74--82",

journal = "Proceedings of the American Control Conference",

issn = "0743-1619",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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T1 - Near-minimum-time control of a flexible one-link robot.

AU - Sinha, Alok

AU - Mittal, Sanjeev

PY - 1988

Y1 - 1988

N2 - A digital algorithm is developed to obtain a feedforward function which not only yields near-minimum-time trajectory but also damps out vibration in the controlled modes of a flexible one-link robot. The results of numerical simulations are presented for links with two different sets of parameters. It is found that the move-time for this algorithm is close to that for the time-optimal control. The effects of control-spillover, which result in residual vibration, are small.

AB - A digital algorithm is developed to obtain a feedforward function which not only yields near-minimum-time trajectory but also damps out vibration in the controlled modes of a flexible one-link robot. The results of numerical simulations are presented for links with two different sets of parameters. It is found that the move-time for this algorithm is close to that for the time-optimal control. The effects of control-spillover, which result in residual vibration, are small.

UR - https://www.scopus.com/pages/publications/0024139232

UR - https://www.scopus.com/pages/publications/0024139232#tab=citedBy

U2 - 10.23919/acc.1988.4789696

DO - 10.23919/acc.1988.4789696

M3 - Conference article

AN - SCOPUS:0024139232

SN - 0743-1619

VL - 88 pt 1-3

SP - 74

EP - 82

JO - Proceedings of the American Control Conference

JF - Proceedings of the American Control Conference

ER -

Near-minimum-time control of a flexible one-link robot.

Abstract

All Science Journal Classification (ASJC) codes

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