NDLI: A computationally efficient approach to time-optimal control of robotic manipulators along specified paths

Content Provider	IEEE Xplore Digital Library
Author	Dong-Soo Choi Seung-Jean Kim Yang-O Kim In-Joong Ha
Copyright Year	2001
Description	Author affiliation: Sch. of Electr. Eng., Seoul Nat. Univ., South Korea (Dong-Soo Choi)
Abstract	This paper describes a computationally very efficient method of finding the time-optimal solution to the control of robotic manipulators along specified paths. Specifically speaking, this can be done through a novel way of approximating the dynamic equation for robotic manipulators. Most importantly, the time-optimal control problem corresponding to the approximated dynamic equation can be solved with O(m) elementary operations, where m is the number of grids used in the approximation process. Furthermore, the authors show that as the approximation is finer, the suboptimal solution converges to the true time-optimal solution at least as fast as O(1/m). Finally, some simulation results using a six degree of freedom robotic manipulator are presented to demonstrate the generality and practical use of the proposed algorithm. In simulation, actuator constraints and the nondiagonal components of the inertia matrix as well as the centrifugal and Coriolis forces are taken into full account.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	1569
Ending Page	1574
File Size	453803
Page Count	6
File Format	PDF
ISBN	0780370902
DOI	10.1109/ISIE.2001.931940
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2001-06-12
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot control Manipulator dynamics Robot kinematics Equations Motion planning Actuators Path planning Manufacturing Dynamic programming Timing
Content Type	Text
Resource Type	Article

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