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
On the existence of time-optimal control of mechanical manipulators
β Scribed by A. Ailon; G. Langholz
- Publisher
- Springer
- Year
- 1985
- Tongue
- English
- Weight
- 844 KB
- Volume
- 46
- Category
- Article
- ISSN
- 0022-3239
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