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


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… (More)
DOI: 10.1017/S0263574700005026


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