Summary
This paper is devoted to optimization of robotic motions with respect to operational time. Problems of time-optimal control of manipulation robots were earlier considered in a number of papers, seo for example, [1–5]. In [1] the computer oriented procedure is given for obtaining open-loop optimal control of restricted joint torques for a six-degree-of-freedom manipulator. Here the path of the end effector of a robot is prescribed. Bang bang time-optimal controls of a manipulator are considered in [2], provided all Generalized coordinates change monotonically. The paper [3] is devoted to construction of suboptimal controls for multi-degree-of-freedom mechanisms; here a nonlinear system is replaced by a simplified linear one. In [4] a method has been proposed using constant maximum velocity and acceleration to minimize the traveling time on a path composed of straight lines connected by circular curves.
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© 1987 Hermes, Paris
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Akulenko, L.D., Bolotnik, N.N., Chernousko, F.L., Gradetsky, V.G. (1987). Time-Optimal Motions of Some Robotic Systems. In: Morecki, A., Bianchi, G., Kędzior, K. (eds) RoManSy 6. Springer, Boston, MA. https://doi.org/10.1007/978-1-4684-6915-8_64
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DOI: https://doi.org/10.1007/978-1-4684-6915-8_64
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