Minimum-time control of flexible joints with input and output constraints

被引：7

作者：

Consolini, Luca ^{[1
]}

Gerelli, Oscar ^{[1
]}

Guarino Lo Bianco, Corrado ^{[1
]}

Piazzi, Aurelio ^{[1
]}

机构：

[1] Univ Parma, Dip Ing Informaz, I-43100 Parma, Italy

来源：

PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 | 2007年

关键词：

D O I：

10.1109/ROBOT.2007.364063

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The paper proposes a linear programming approach to the feedforward minimum-time control of flexible joints. Taking into account both input and output constraints, the optimal bang-bang control is computed by discretizing a continuous-time joint model and by solving a sequence of linear programming feasibility problems. The resulting joint motion is a smooth rest-to-rest motion without oscillations. Experimental results illustrate the proposed open-loop technique.

引用

页码：3811 / +

页数：2

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