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Planning of quasi-minimum time trajectories for robot manipulators (Generation of a bang-bang control)

Published online by Cambridge University Press:  09 March 2009

M. Yamamoto  and
A. Mohri
M. Yamamoto
Affiliation:
Department of Mechanical Engineering, Production Division, Faculty of Engineering, Kyushu University, 6–10–1 Hakozaki Higashiku, Fukuoka 812 (Japan)
A. Mohri
Affiliation:
Department of Mechanical Engineering, Production Division, Faculty of Engineering, Kyushu University, 6–10–1 Hakozaki Higashiku, Fukuoka 812 (Japan)
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Summary

A method for planning minimum time joint trajectories for robot manipulators is discussed. The minimum time trajectory planning problem for manipulators is one of the minimum time control problems of non-linear systems. The optimal input torque/force is of a bang-bang type, except for the singular control derived from the Maximum Principle. An algorithm for generating a bang-bang control is proposed. In the algorithm, the switching time vector is updated to decrease the final state error. The proposed algorithm is applied to a simple manipulator with two links, and the solution by this algorithm is compared with the sub-optimal solution obtained by another approximate method.

Keywords

ManipulatorTrajectory planningMinimum time controlMaximum principleBang-bang control
Type
Research Article
Information
Robotica , Volume 7 , Issue 1 , January 1989 , pp. 43 - 47
Copyright
Copyright © Cambridge University Press 1989

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