Minimum-time feedback control of robotic manipulators

Hon Y. Tam

doi:10.1109/CDC.1989.70624

Minimum-time feedback control of robotic manipulators

Hon Y. Tam

Research output: Journal Publications and Reviews › RGC 22 - Publication in policy or professional journal

2 Citations (Scopus)

Abstract

Efficient robot motions often involve control saturation. The method of neighboring optimal control is used to design a feedback scheme which takes this characteristic into account. It requires precomputation of control gain along the nominal path. Feedback mechanization involves updating the switching times based on the available measurements of deviation of the robot from its nominal path. The feedback scheme is also extended to perturbing the switching times to account for small changes in the tip-mass. An online parameter identification scheme is adopted to determine this change.

Original language	English
Pages (from-to)	2482-2486
Journal	Proceedings of the IEEE Conference on Decision and Control
Volume	3
DOIs	https://doi.org/10.1109/CDC.1989.70624
Publication status	Published - 1989
Externally published	Yes
Event	Proceedings of the 28th IEEE Conference on Decision and Control. Part 2 (of 3) - Tampa, FL, USA Duration: 13 Dec 1989 → 15 Dec 1989

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abstract = "Efficient robot motions often involve control saturation. The method of neighboring optimal control is used to design a feedback scheme which takes this characteristic into account. It requires precomputation of control gain along the nominal path. Feedback mechanization involves updating the switching times based on the available measurements of deviation of the robot from its nominal path. The feedback scheme is also extended to perturbing the switching times to account for small changes in the tip-mass. An online parameter identification scheme is adopted to determine this change.",

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AU - Tam, Hon Y.

PY - 1989

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AB - Efficient robot motions often involve control saturation. The method of neighboring optimal control is used to design a feedback scheme which takes this characteristic into account. It requires precomputation of control gain along the nominal path. Feedback mechanization involves updating the switching times based on the available measurements of deviation of the robot from its nominal path. The feedback scheme is also extended to perturbing the switching times to account for small changes in the tip-mass. An online parameter identification scheme is adopted to determine this change.

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U2 - 10.1109/CDC.1989.70624

DO - 10.1109/CDC.1989.70624

M3 - RGC 22 - Publication in policy or professional journal

SN - 0743-1546

VL - 3

SP - 2482

EP - 2486

JO - Proceedings of the IEEE Conference on Decision and Control

JF - Proceedings of the IEEE Conference on Decision and Control

T2 - Proceedings of the 28th IEEE Conference on Decision and Control. Part 2 (of 3)

Y2 - 13 December 1989 through 15 December 1989

ER -

Minimum-time feedback control of robotic manipulators

Abstract

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