Time-optimal control of two-degree of freedom robot arms


A dynamic model for a robot arm using new state variables based on the Hamiltonian Canonical equations is derived from which it is shown that the structure of the minimum-time control (MTC) law requires that at least one of the actuators is always saturated, In addition, a control algorithm for the MTC of a robot arm is presented. The algorithm converts the… (More)
DOI: 10.1109/ROBOT.1988.12226


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