Time-optimal controls of kinematically redundant manipulators with geometric constraints

被引:39
|
作者
Galicki, M [1 ]
机构
[1] Tech Univ, Inst Org & Management, PL-65246 Zielona Gora, Poland
[2] Univ Jena, Inst Med Stat Comp Sci & Documentat, D-6900 Jena, Germany
来源
关键词
optimal control; redundant manipulator; regular trajectory;
D O I
10.1109/70.833194
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
Theoretical investigations of time-optimal control of kinematically redundant manipulators subject to control and state constraints are presented in this work, The task is to move the end-effector along a prescribed geometric path (state equality constraints). In order to address a structure of rime-optimal control, the concept of a regular trajectory derived in Pontryagin et aland the extended state space introduced herein are used. Next, it is proved that if the dynamics of a manipulator are defined by n actuators and m path-constrained equations, where m < n, then at most n - m + 1 actuators are saturated, provided that the time-optimal manipulator trajectory is regular with respect to a prescribed geometric path given in the work space. Besides, it is shown that these results are also consistent for a point-to-point time-optimal control problem. A computer example involving a planar redundant manipulator of three revolute kinematic pairs is included which confirms the obtained theoretical results.
引用
收藏
页码:89 / 93
页数:5
相关论文
共 50 条