On the problem of the time-optimal manipulator arm turning

Two kinds of manipulators making spatial movements are discussed. The problem of control which provides manipulator turning in the minimum possible time is considered. A control, satisfying the maximum principle of Pontryagin, has been designed for some set of boundary configurations. With this control a manipulator link in the process of turning oscillates around a position, corresponding to a minimum moment of inertia of a system with respect to an axis of rotation. Movement satisfying the maximum principle is compared to that for which the moment of inertia is minimal within the entire interval of time. The simplified equations as well as the complete ones are investigated.<
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