Minimum-time feedback control of robotic manipulators

Research output: Journal Publications and ReviewsRGC 22 - Publication in policy or professional journal

2 Scopus Citations
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Author(s)

Detail(s)

Original languageEnglish
Pages (from-to)2482-2486
Journal / PublicationProceedings of the IEEE Conference on Decision and Control
Volume3
Publication statusPublished - 1989
Externally publishedYes

Conference

TitleProceedings of the 28th IEEE Conference on Decision and Control. Part 2 (of 3)
CityTampa, FL, USA
Period13 - 15 December 1989

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.