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On the structure of the time-optimal controls for robotic manipulators

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1 Author(s)
Chen Yao-Chon ; Dept. of Electr. Eng., Ryersson Polytech. Inst., Toronto, Ont., Canada

An alternative proof is presented of the fact that the time-optimal controls for (rigid) robotic manipulators can never be singular simultaneously

Published in:

Automatic Control, IEEE Transactions on  (Volume:34 ,  Issue: 1 )