Real-time time-optimal control of manipulators based on gravity center motion

被引：0

作者：

Lin, ZQ ^{[1
]}

Ma, SG ^{[1
]}

Cao, BG ^{[1
]}

机构：

[1] Ibaraki Univ, Fac Engn, Dept Syst Engn, Hitachi, Ibaraki 3168511, Japan

来源：

PROCEEDINGS OF THE 3RD WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-5 | 2000年

关键词：

manipulator point to point control; minimum time control; trajectory planning; gravity center motion;

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：

Fast motion is a central problem in high-performance robotics. Finding the minimum time control strategies for point to point operation of a robotic manipulator is algorithmically difficult and computationally very intensive. As a result, the practical applicability of available methods currently is very limited. In this study, we present an approximate solution to the time-optimal trajectory planning problem, by a point of view of the gravity center motion. While not producing the exact minimum-time solution, the algorithm approximated the minimum-time solution can be easily utilized on-line. The algorithm running on a typical PC computer (Gateway 2000 G6-200) only takes about 1.03 seconds, while the algorithm to obtain the exact time-optimal solution takes about 2.54 seconds, it is thus possible for real-time control.

引用

页码：67 / 72

页数：6

共 4 条

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DAHL, O
NIELSEN, L
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[2] Ma S., 1999, Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289), P338, DOI 10.1109/IROS.1999.813026
[3] Ma S., 1995, Proceedings of the 1995 IEEE IECON. 21st International Conference on Industrial Electronics, Control, and Instrumentation (Cat. No.95CH35868), P1324, DOI 10.1109/IECON.1995.483989
[4] ZLAJPAH L, 1996, P IEEE INT C ROB AUT, P1572

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