Name
Abstract | ||
|---|---|---|
The paper proposes a linear programming approach to the feedforward minimum-time control of flexible joints. Taking into account both input and output constraints, the optimal bang-bang control is computed by discretizing a continuous-time joint model and by solving a sequence of linear programming feasibility problems. The resulting joint motion is a smooth rest-to-rest motion without oscillations. Experimental results illustrate the proposed open-loop technique. |
Year | DOI | Venue |
|---|---|---|
2007 | 10.1109/ROBOT.2007.364063 | PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 |
Keywords | Field | DocType |
open loop systems,robots,automatic control,linear programming,control systems,feedforward,motion control,optimization problem,testing,discrete time,minimisation,oscillations,linear program,optimal control,bang bang control,system safety | Motion control,Bang–bang control,Optimal control,Control theory,Automatic control,Input/output,Control engineering,Linear programming,Control system,Engineering,Feed forward | Conference |
Volume | Issue | ISSN |
2007 | 1 | 1050-4729 |
Citations | PageRank | References |
1 | 0.63 | 3 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Luca Consolini | 1 | 276 | 31.16 |
| Oscar Gerelli | 2 | 19 | 4.31 |
| Corrado Guarino Lo Bianco | 3 | 78 | 10.47 |
| Aurelio Piazzi | 4 | 132 | 19.44 |