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A study of controllability and time-optimal control of a robot model with drive train compliances and actuator dynamics

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2 Author(s)
Ailon, A. ; Dept. of Electr. & Comput. Eng., Ben-Gurion Univ. of the Negev, Beer Sheva, Israel ; Langholz, G.

The problems of robot controllability and time-optimal control where drive train compliances and actuator dynamics are incorporated in the mathematical model are considered. Conditions that ensure the existence of a time-optimal control, are demonstrated, and controllability of the augmented model (robot and actuator) in open-and-closed-loop form is established. A procedure is described for the derivation of easily computable functional inequalities which represent upper bounds on the norm of the augmented system's time response

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Automatic Control, IEEE Transactions on  (Volume:33 ,  Issue: 9 )