| contributor author | C. K. Kao | |
| contributor author | A. K. Mahalanabis | |
| contributor author | A. Sinha | |
| date accessioned | 2017-05-08T23:24:29Z | |
| date available | 2017-05-08T23:24:29Z | |
| date copyright | December, 1987 | |
| date issued | 1987 | |
| identifier issn | 0022-0434 | |
| identifier other | JDSMAA-26100#320_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/102291 | |
| description abstract | A digital state feedback control algorithm has been developed to obtain the near-minimum-time trajectory for the end-effector of a robot manipulator. In this algorithm, the poles of the linearized closed loop system are judiciously placed in the Z-plane to permit near-minimum-time response without violating the constraints on the actuator torques. The validity of this algorithm has been established using numerical simulations. A three-link manipulator is chosen for this purpose and the results are discussed for three different combinations of initial and final states. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | A Digital Algorithm for Near-Minimum-Time Control of Robot Manipulators | |
| type | Journal Paper | |
| journal volume | 109 | |
| journal issue | 4 | |
| journal title | Journal of Dynamic Systems, Measurement, and Control | |
| identifier doi | 10.1115/1.3143861 | |
| journal fristpage | 320 | |
| journal lastpage | 327 | |
| identifier eissn | 1528-9028 | |
| tree | Journal of Dynamic Systems, Measurement, and Control:;1987:;volume( 109 ):;issue: 004 | |
| contenttype | Fulltext | |