On singular time-optimal control along specified paths

@article{Shiller1994OnST,
  title={On singular time-optimal control along specified paths},
  author={Zvi Shiller},
  journal={IEEE Trans. Robotics and Automation},
  year={1994},
  volume={10},
  pages={561-566}
}
This paper presents a general necessary condition for singular time optimal control of robotic manipulation moving along specified paths. Early work [l], [7] ignored the issue of singular control, assuming bang-bang acceleration along the path. Recent work [6] has shown that the time optimal control can be singular if one of the equations of motion reduces to a velocity constraint. This paper derives a more general necessary condition for singular control. It is also proven that singular… CONTINUE READING
Highly Cited
This paper has 77 citations. REVIEW CITATIONS

Citations

Publications citing this paper.
Showing 1-10 of 39 extracted citations

Characterizing and addressing dynamic singularities in the time-optimal path parameterization algorithm

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems • 2013
View 9 Excerpts
Highly Influenced

A class of non-linear time scaling functions for smooth time optimal control along specified paths

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) • 2015
View 3 Excerpts

77 Citations

0510'94'99'05'11'17
Citations per Year
Semantic Scholar estimates that this publication has 77 citations based on the available data.

See our FAQ for additional information.

References

Publications referenced by this paper.
Showing 1-6 of 6 references

A suboptimal reference generation teehnique for robotic manipulators following specified paths,

J. Butler, M. Tomizuka
ASME J . Dynamic Syst., Measurement, and Control. vol. 114 • 1992

A transformation technique for optimal control problems with a state variable inequality constraint,

D. H. Jacobson, M. M. Lele
IEEE Trans. Automat. Contr. • 1969

Similar Papers

Loading similar papers…