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  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 , provided all Generalized coordinates change monotonically. The paper  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  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.
KeywordsRobotic System Gear Ratio Terminal Position Feedback Optimal Control Transport Operation
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