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On singular time-optimal control along specified paths

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1 Author(s)
Z. Shiller ; Dept. of Mech. Aerosp. & Nucl. Eng., California Univ., Los Angeles, CA, USA

This paper presents a general necessary condition for singular time optimal control of robotic manipulation moving along specified paths. Early work by Bobrow-Dubowsky (1985) and Shin-McKay (1985) ignored the issue of singular control, assuming bang-bang acceleration along the path. Recent work by Shiller-Lu (1992) has shown that the time optimal control can be singular if one of the equations of motion reduces to a velocity constraint. This paper derives a more general necessary condition for singular control. It is also proven that singular control cannot exist if the set of admissible controls is strictly convex, as is demonstrated for a two-link planar manipulator with elliptical actuator constraints

Published in:

IEEE Transactions on Robotics and Automation  (Volume:10 ,  Issue: 4 )