| contributor author | W. S. Newman | |
| contributor author | N. Hogan | |
| date accessioned | 2017-05-08T23:29:34Z | |
| date available | 2017-05-08T23:29:34Z | |
| date copyright | June, 1989 | |
| date issued | 1989 | |
| identifier issn | 0022-0434 | |
| identifier other | JDSMAA-26111#187_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/105172 | |
| description abstract | An efficient algorithm is presented for solving time-optimal control for a restricted class of manipulators: balanced, decoupled manipulators. It is shown how the dynamics of such manipulators are sufficiently simple that optimal control solutions for point-to-point moves can be found analytically. A change of coordinates is proposed in which the more difficult problem of time-optimal interception of moving targets can be solved efficiently. A fast algorithm is described for computing and updating optimal interception solutions on line. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Time Optimal Control of Balanced Manipulators | |
| type | Journal Paper | |
| journal volume | 111 | |
| journal issue | 2 | |
| journal title | Journal of Dynamic Systems, Measurement, and Control | |
| identifier doi | 10.1115/1.3153035 | |
| journal fristpage | 187 | |
| journal lastpage | 193 | |
| identifier eissn | 1528-9028 | |
| tree | Journal of Dynamic Systems, Measurement, and Control:;1989:;volume( 111 ):;issue: 002 | |
| contenttype | Fulltext | |