Minimum Time Control with Trajectory Reassignment for Multi Degree-of-Freedom Systems Part I

Multilink manipulators and autonomous mobile systems are modeled as multi degree-of-freedom systems. These systems operate in environments where minimum time motion is required. A solution is given for the minimum time motion of these systems with real-time mid-stream trajectory reassignment. The method is developed for multi-link manipulators with actuator dynamics and the use of a global linearization and decoupling transformation feedback. The solution is based upon a time optimal position control for static endpoints and extended as the only known solution to arbitrary midstream trajectory reassignment. The nominal trajectory inputs are concatenated with the reassignment inputs to allow further reassignment. A companion paper shows examples of nominal and trajectory reassignments moves for nonlinear one and two degree-of-freedom systems.