Minimum-time feedback control of robotic manipulators
Research output: Journal Publications and Reviews › RGC 22 - Publication in policy or professional journal
Author(s)
Detail(s)
Original language | English |
---|---|
Pages (from-to) | 2482-2486 |
Journal / Publication | Proceedings of the IEEE Conference on Decision and Control |
Volume | 3 |
Publication status | Published - 1989 |
Externally published | Yes |
Conference
Title | Proceedings of the 28th IEEE Conference on Decision and Control. Part 2 (of 3) |
---|---|
City | Tampa, FL, USA |
Period | 13 - 15 December 1989 |
Link(s)
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.
Citation Format(s)
Minimum-time feedback control of robotic manipulators. / Tam, Hon Y.
In: Proceedings of the IEEE Conference on Decision and Control, Vol. 3, 1989, p. 2482-2486.
In: Proceedings of the IEEE Conference on Decision and Control, Vol. 3, 1989, p. 2482-2486.
Research output: Journal Publications and Reviews › RGC 22 - Publication in policy or professional journal