PLANAR ROBOT MOTION WITH AN OBSTACLE - SYNTHESIS OF TIME-OPTIMAL CONTROL

被引：0

作者：

MARINOV, P ^{[1
]}

KIRIAZOV, P ^{[1
]}

机构：

[1] BULGARIAN ACAD SCI,INST MECH & BIOMECH,BU-1113 SOFIA,BULGARIA

来源：

LECTURE NOTES IN CONTROL AND INFORMATION SCIENCES | 1990年 / 143卷

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A.direct approach to the control synthesis of point-to-point motion is suggested. The presence of one obstacle in the plane of gripper motion jields two two-point boundary-value problems which are solved employing bang-bang control functions. Varying the velocity at the common point of this boundary-value problems one can minimize the total movement execution time. A complete dynamic model of a two-degree of freedom manipulator is taken into consideration.

引用

页码：342 / 347

页数：6

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