Abstract
Finding minimum-time strategies for point-to-point operation of a robot manipulator is algorithmically difficult and com putationally very intensive, even when the dynamic equations and parameters of the manipulator are precisely known. As a result, the practical applicability of available methods currently is very limited. In this research, fast algorithms to generate near-minimum-time point-to-point motions of a robot manip ulator are proposed, using a “two-step” Lyapunov approach. While not producing exact minimum-time solutions, the algo rithms can be easily used on-line to approximate minimum-time trajectories. The proposed method focuses on changes in the manipulator's kinetic energy during time-optimal motion, in stead of concentrating on the system's state variables, as is usually done in conventional approaches. Its performance is compared in simulation with true optimal solutions and the computed torque method with actuator bounds. The results also suggest that the method may actually compare favorably with “exact” time-optimal solutions when parameter uncertainty is present.
| Original language | English |
|---|---|
| Pages (from-to) | 521-532 |
| Number of pages | 12 |
| Journal | The International Journal of Robotics Research |
| Volume | 13 |
| Issue number | 6 |
| DOIs | |
| Publication status | Published - 1994 Jan 1 |
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All Science Journal Classification (ASJC) codes
- Software
- Modelling and Simulation
- Mechanical Engineering
- Electrical and Electronic Engineering
- Artificial Intelligence
- Applied Mathematics
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Fast Algorithms for Near-Minimum-Time Control of Robot Manipulators:Communication. / Yang, Hyun Seok; Slotine, Jean Jacques E.
In: The International Journal of Robotics Research, Vol. 13, No. 6, 01.01.1994, p. 521-532.Research output: Contribution to journal › Article
TY - JOUR
T1 - Fast Algorithms for Near-Minimum-Time Control of Robot Manipulators:Communication
AU - Yang, Hyun Seok
AU - Slotine, Jean Jacques E.
PY - 1994/1/1
Y1 - 1994/1/1
N2 - Finding minimum-time strategies for point-to-point operation of a robot manipulator is algorithmically difficult and com putationally very intensive, even when the dynamic equations and parameters of the manipulator are precisely known. As a result, the practical applicability of available methods currently is very limited. In this research, fast algorithms to generate near-minimum-time point-to-point motions of a robot manip ulator are proposed, using a “two-step” Lyapunov approach. While not producing exact minimum-time solutions, the algo rithms can be easily used on-line to approximate minimum-time trajectories. The proposed method focuses on changes in the manipulator's kinetic energy during time-optimal motion, in stead of concentrating on the system's state variables, as is usually done in conventional approaches. Its performance is compared in simulation with true optimal solutions and the computed torque method with actuator bounds. The results also suggest that the method may actually compare favorably with “exact” time-optimal solutions when parameter uncertainty is present.
AB - Finding minimum-time strategies for point-to-point operation of a robot manipulator is algorithmically difficult and com putationally very intensive, even when the dynamic equations and parameters of the manipulator are precisely known. As a result, the practical applicability of available methods currently is very limited. In this research, fast algorithms to generate near-minimum-time point-to-point motions of a robot manip ulator are proposed, using a “two-step” Lyapunov approach. While not producing exact minimum-time solutions, the algo rithms can be easily used on-line to approximate minimum-time trajectories. The proposed method focuses on changes in the manipulator's kinetic energy during time-optimal motion, in stead of concentrating on the system's state variables, as is usually done in conventional approaches. Its performance is compared in simulation with true optimal solutions and the computed torque method with actuator bounds. The results also suggest that the method may actually compare favorably with “exact” time-optimal solutions when parameter uncertainty is present.
UR - http://www.scopus.com/inward/record.url?scp=84973810409&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84973810409&partnerID=8YFLogxK
U2 - 10.1177/027836499401300605
DO - 10.1177/027836499401300605
M3 - Article
AN - SCOPUS:84973810409
VL - 13
SP - 521
EP - 532
JO - International Journal of Robotics Research
JF - International Journal of Robotics Research
SN - 0278-3649
IS - 6
ER -