A new optimization algorithm for singular and non-singular digital time-optimal control of robots

被引：0

作者：

Hol, CWJ ^{[1
]}

van Willigenburg, LG ^{[1
]}

van Henten, EJ ^{[1
]}

van Straten, G ^{[1
]}

机构：

[1] Univ Wageningen & Res Ctr, Syst & Control Grp, NL-6703 HD Wageningen, Netherlands

来源：

2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS | 2001年

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：

Time-optimal controls for 2-link robots are often of bang-bang type. Many algorithms to solve time-optimal robot control problems a-priori assume the optimal control to be bang-bang. Industrial robots very often have. 5 or 6 links and then the associated time-optimal controls are usually singular. This paper presents a new algorithm that enables computation of both bang-bang and singular time-optimal controls for robots. The algorithm uses both the conjugent gradient and Gauss-Newton method to enhance its efficiency and does not require state-parameterization I,, which introduces additional errors. The algorithm is used to compute time-optimal controls for an industrial 5 link robot model including gravity and viscous friction.

引用

页码：1136 / 1141

页数：6

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