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RoManSy 6 pp 623-632 | Cite as

Time-Optimal Motions of Some Robotic Systems

  • L. D. Akulenko
  • N. N. Bolotnik
  • F. L. Chernousko
  • V. G. Gradetsky

Summary

This paper is devoted to optimization of robotic motions with respect to operational time. Problems of time-optimal control of manipulation robots were earlier considered in a number of papers, seo for example, [1–5]. In [1] the computer oriented procedure is given for obtaining open-loop optimal control of restricted joint torques for a six-degree-of-freedom manipulator. Here the path of the end effector of a robot is prescribed. Bang bang time-optimal controls of a manipulator are considered in [2], provided all Generalized coordinates change monotonically. The paper [3] is devoted to construction of suboptimal controls for multi-degree-of-freedom mechanisms; here a nonlinear system is replaced by a simplified linear one. In [4] a method has been proposed using constant maximum velocity and acceleration to minimize the traveling time on a path composed of straight lines connected by circular curves.

Keywords

Robotic System Gear Ratio Terminal Position Feedback Optimal Control Transport Operation 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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References

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Copyright information

© Hermes, Paris 1987

Authors and Affiliations

  • L. D. Akulenko
    • 1
  • N. N. Bolotnik
    • 1
  • F. L. Chernousko
    • 1
  • V. G. Gradetsky
    • 1
  1. 1.Institute for Problems in MechanicsAcademy of SciencesMoscowUSSR

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