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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Kitapci, A. Jung-Chung Wu |
| Copyright Year | 1987 |
| Description | Author affiliation: Northrop University (Kitapci, A.) |
| Abstract | In this work the optimal path control of the tool point of a three axis robot manipulator has considered. The control problem has been found as a nonlinear and singular one. A simplified nonlinear model for a three axis robot arm has been obtained. The constrained and unconstrained optimal control problems have been solved to minimize the quadratic cost of error trajectories, the solution of the unconstrained optimal control problem has been found as the combination of regular and impulsive optimal inputs, as well as the optimal solution of the constrained optimal control problem has been found as the nonlinear on-off control. |
| Starting Page | 339 |
| Ending Page | 344 |
| File Size | 426536 |
| Page Count | 6 |
| File Format | |
| DOI | 10.1109/ROBOT.1987.1087999 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1987-03-01 |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Optimal control Manipulators Robot sensing systems Cost function Laboratories Angular velocity Error correction Educational robots Robot programming Hardware |
| Content Type | Text |
| Resource Type | Article |
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