论文信息 - Time-optimal control of manipulators

Time-optimal control of manipulators

This paper studies time-optimal control questions for a certain class of nonlinear systems. This class includes a large number of mechanical systems, in particular, rigid robotic manipulators with torque constraints. As nonlinear systems, these systems have many properties that are false for generic systems of the same dimensions.

Eduardo D. Sontag | Héctor J. Sussmann | Eduardo Sontag | H. Sussmann

[1] A. Krener. The High Order Maximal Principle and Its Application to Singular Extremals , 1977 .

[2] H. Hermes. Lie Algebras of Vector Fields and Local Approximation of Attainable Sets , 1978 .

[3] H. Gardner Moyer,et al. Sufficient Conditions for a Strong Minimum in Singular Control Problems , 1973 .

[4] R. Paul. Robot Manipulators: Mathematics, Programming, and Control , 1981 .

[5] V. T. Rajan. Minimum time trajectory planning , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[6] Eduardo Sontag,et al. Remarks on the time-optimal control of two-link manipulators , 1985, 1985 24th IEEE Conference on Decision and Control.

[7] Amit Ailon,et al. On the existence of time-optimal control of mechanical manipulators , 1985 .

[8] John M. Hollerbach,et al. Planning of Minimum- Time Trajectories for Robot Arms , 1986 .

[9] John M. Hollerbach,et al. Planning a minimum-time trajectories for robot arms , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[10] Z. Shiller,et al. On the optimal control of robotic manipulators with actuator and end-effector constraints , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.