ISSN:
1573-2878
Keywords:
Optimal control
;
robotics
;
path planning
;
maximum principle
;
multi-point boundary value problems
;
multiple shooting
Source:
Springer Online Journal Archives 1860-2000
Topics:
Mathematics
Notes:
Abstract The problem of the time-optimal control of robot manipulators is of importance because of its potential for increasing the productivity of assembly lines. This work is part of a series of papers by the authors on this topic using direct and indirect methods of optimization. A cylindrical robot or a spherical polar robot constrained to the horizontal plane is considered, and optimal solutions for radial maneuvers are generated. Indirect methods are employed in order to establish the switching structure of the solutions. The results show that even such apparently simple maneuvers as extension or retraction of a robot with a prismatic joint can produce very complex optimal solutions. Time-optimal retraction can exhibit ten different switching structures with eight switching points and two singular arcs.
Type of Medium:
Electronic Resource
URL:
http://dx.doi.org/10.1007/BF02191987
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