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

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2 Author(s)
Jayasuriya, S. ; Department of Mechanical Engineering, Michigan State University, East Lansing, MI 48824 ; Suh, Moon-Suk

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.

Published in:

American Control Conference, 1985

Date of Conference:

19-21 June 1985