Sub-Optimal Control Strategies for Manipulators with Actuator Constraints: The Near Minimum Time Problem

In this paper, we investigate the feasibility of employing a sub-optimal control strategy which results in "near minimum time" motion for a robotic manipulator along any pre-determined path in 3-D space. A computationally simple algorithm based on Optimal Aiming Strategies is presented. The applicability of the proposed algorithm is demonstrated through a two-link manipulator example.