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Time-optimal PTP motion including dynamics for robotic manipulators

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1 Author(s)
Fourquet, J.-Y. ; Lab. d''Autom. d''Anal. des Syst., CNRS, Toulouse, France

Singular controls in the time-optimal point to point (PTP) motion are considered. An analytic approach based on the specific structure of n-link rigid manipulators is presented. The keys to the characterization are Lie brackets of vector fields, cyclic generalized coordinates, the maximum principle, and high-order optimality conditions. How such an approach leads to significant complexity reduction in numerical dynamic programming methods by eliminating those cases which cannot exist is shown. Two-degree-of-freedom manipulators are studied in depth

Published in:

Industrial Electronics Society, 1990. IECON '90., 16th Annual Conference of IEEE

Date of Conference:

27-30 Nov 1990