Name
Abstract | ||
|---|---|---|
We propose a time-optimal control scheme for kinematically redundant manipulators to track a predefined geometric path, subject to joint torque limits. The scheme makes full use of redundancy to increase the path-tracking velocity, and the the optimal trajectory planning problem is solved by using phase-plane analysis and linear programming technique. Computer simulation is also executed on a three-link planar rotary manipulator to show that, 1) the redundancy of the manipulator is fully used to increase the path-tracking velocity, and 2) redundant joints plus one more joint use their bound values of torque all the the while the minimum time path-tracking task is performed |
Year | DOI | Venue |
|---|---|---|
2000 | 10.1109/IROS.2000.894577 | IROS |
Keywords | Field | DocType |
phase-plane analysis,path-tracking velocity,minimum time path-tracking control,three-link planar rotary manipulator,linear programming,redundant manipulators,time optimal control,time-optimal control scheme,predefined geometric path,position control,joint torque limits,computer simulation,actuators,linear program,control systems,path planning,trajectory | Torque,Computer science,Control theory,Manipulator,Control engineering,Redundancy (engineering),Planar,Linear programming,Optimal trajectory planning,Minimum time,Path tracking | Conference |
Volume | ISBN | Citations |
1 | 0-7803-6348-5 | 5 |
PageRank | References | Authors |
0.51 | 7 | 2 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Shugen Ma | 1 | 691 | 114.88 |
| Mitsuru Watanabe | 2 | 11 | 2.66 |