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The number of saturated actuators and constraint forces during time-optimal movement of a general robotic system

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2 Author(s)
McCarthy, J. ; Dept. of Mech. & Aerosp. Eng., California Univ., Irvine, CA, USA ; Bobrow, J.E.

It is proved that if the dynamics of a general robot system are defined by n coordinates, m differential constraint equations, and p actuators, then some combination of at least L=m+p+1-n of the actuators and internal constraint forces are saturated during a time-optimal movement of the system along a prescribed path. The result applies to a general class of dynamic systems with both holonomic and nonholonomic constraints

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Robotics and Automation, IEEE Transactions on  (Volume:8 ,  Issue: 3 )