This paper presents experimental results for time-optimal control of robotic manipulators along specified paths. The implementation of time-optimal control represents several unique problems: (1) the control is generally discontinuous (bang-bag), (2) actuator dynamics are usually ignored in order to
β¦ LIBER β¦
Implementation of VSS control to robotic manipulators-smoothing modification
β Scribed by Xu, J.-X.; Hashimoto, H.; Slotine, J.-J.E.; Arai, Y.; Harashima, F.
- Book ID
- 119776399
- Publisher
- IEEE
- Year
- 1989
- Tongue
- English
- Weight
- 652 KB
- Volume
- 36
- Category
- Article
- ISSN
- 1932-4529
- DOI
- 10.1109/41.31494
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