ON THE PROBLEM OF THE TIME-OPTIMAL MANIPULATOR ARM TURNING

被引：5

作者：

SKY, AMF

OSIPOV, SN

机构：

[1] Institute of Mechanics, Moscow University, Moscow, USSR.

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 1990年 / 35卷 / 06期

关键词：

D O I：

10.1109/9.53551

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This note is concerned with two kinds of manipulators making spatial movements. The problem of control which provides a manipulator turning in minimum possible time is considered. A control, satisfying the maximum principle of Pontryagin has been designed for some set of boundary configurations. With this control a manipulator link in the process of turning is oscillating around a position, corresponding to a minimum moment of inertia of a system with respect to an axis of rotation. Movement, satisfying the maximum principle, is compared to one for which the moment of inertia is minimal within the entire interval of time. The simplified equations as well as the complete ones are investigated. © 1990 IEEE

引用

页码：714 / 719

页数：6

共 12 条

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