Robust computation of path constrained time optimal motions
作者： Zvi Shiller , H-H Lu , None
DOI: 10.1109/ROBOT.1990.125962
关键词: Locus (mathematics) 、 Robot 、 Robot manipulator 、 Mathematics 、 Time optimal 、 Topology 、 Acceleration 、 Inertia 、 Position and momentum space 、 Control theory 、 Computation
摘要: An algorithm is presented for the computation of path-constrained time-optimal motions robotic manipulators exploring nature so-called critical points and arcs. At reflected inertia at one joints zero, feasible acceleration range velocity limit not unique. Time-optimal along arcs may be singular in sense that neither maximum nor minimum. This contrast to existing motion optimization methods specified paths which assume or deceleration all times. The consideration makes this robust near switching points, are potential failure other methods. Critical can anticipated path by mapping locus position space. Examples demonstrate existence >
sci-hub.se 参考文章(15)
S. Dubowsky, Z. Shiller, Optimal Dynamic Trajectories for Robotic Manipulators Springer, Boston, MA. pp. 133- 143 ,(1985) , 10.1007/978-1-4615-9882-4_15
Kang G. Shin, Neil D. McKay, Open-loop minimum-time control of mechanical manipulators and its application american control conference. ,vol. 21, pp. 1231- 1236 ,(1984) , 10.1109/ACC.1984.4171486
M. E. Kahn, B. Roth, The Near-Minimum-Time Control Of Open-Loop Articulated Kinematic Chains Journal of Dynamic Systems Measurement and Control-transactions of The Asme. ,vol. 93, pp. 164- 172 ,(1971) , 10.1115/1.3426492
Elke-Barbara Meier, Arthur E. Bryson, Efficient Algorithm for Time-Optimal Control of a Two-Link Manipulator Journal of Guidance Control and Dynamics. ,vol. 13, pp. 859- 866 ,(1987) , 10.2514/3.25412
Zvi Shiller, Steven Dubowsky, Robot Path Planning with Obstacles, Actuator, Gripper, and Payload Constraints The International Journal of Robotics Research. ,vol. 8, pp. 3- 18 ,(1989) , 10.1177/027836498900800601
A. Weinreb, A. Bryson, Optimal control of systems with hard control bounds IEEE Transactions on Automatic Control. ,vol. 30, pp. 1135- 1138 ,(1985) , 10.1109/TAC.1985.1103857
H. Geering, L. Guzzella, S. Hepner, C. Onder, Time-optimal motions of robots in assembly tasks IEEE Transactions on Automatic Control. ,vol. 31, pp. 512- 518 ,(1986) , 10.1109/TAC.1986.1104333
J.E. Bobrow, Optimal robot plant planning using the minimum-time criterion international conference on robotics and automation. ,vol. 4, pp. 443- 450 ,(1988) , 10.1109/56.811
J.E. Bobrow, S. Dubowsky, J.S. Gibson, Time-Optimal Control of Robotic Manipulators Along Specified Paths: The International Journal of Robotics Research. ,vol. 4, pp. 3- 17 ,(1985) , 10.1177/027836498500400301
G. Sahar, J. Hollerbach, Planning a minimum-time trajectories for robot arms international conference on robotics and automation. ,vol. 2, pp. 751- 758 ,(1985) , 10.1109/ROBOT.1985.1087233