On-line, point-to-point near minimum-time feedback control of robot manipulators

Hyun S. Yang, Jean Jacques E. Slotine

Research output: Contribution to conferencePaper

1 Citation (Scopus)

Abstract

Solving minimum-time point-to-point motion control problems, for robot manipulators with actuator bounds, has been an important research area in the robotics literature. Execution-time of specific tasks and productivity are directly related for industrial robots, and similarly size and energy requirements are critical for space robots. Finding minimum-time strategies, however, even when the dynamic equations and parameters are precisely known, is understood to be difficult and computationally intensive, so that minimum-time trajectory planning is typically performed off-line. In this paper, a simple real-time feedback control scheme is proposed, which is effective in achieving point-to-point tasks in near minimum-time, using a so-called 'two-step' Lyapunov approach. The performance of the proposed method is simulated and compared with true optimal solutions.

Original languageEnglish
Pages555-562
Number of pages8
Publication statusPublished - 1992 Dec 1
EventProceedings of the 1992 Japan - USA Symposium on Flexible Automation Part 1 (of 2) - San Francisco, CA, USA
Duration: 1992 Jul 131992 Jul 15

Other

OtherProceedings of the 1992 Japan - USA Symposium on Flexible Automation Part 1 (of 2)
CitySan Francisco, CA, USA
Period92/7/1392/7/15

Fingerprint

Feedback control
Manipulators
Robots
Industrial robots
Real time control
Motion control
Robotics
Actuators
Productivity
Trajectories
Planning

All Science Journal Classification (ASJC) codes

  • Engineering(all)

Cite this

Yang, H. S., & Slotine, J. J. E. (1992). On-line, point-to-point near minimum-time feedback control of robot manipulators. 555-562. Paper presented at Proceedings of the 1992 Japan - USA Symposium on Flexible Automation Part 1 (of 2), San Francisco, CA, USA, .
Yang, Hyun S. ; Slotine, Jean Jacques E. / On-line, point-to-point near minimum-time feedback control of robot manipulators. Paper presented at Proceedings of the 1992 Japan - USA Symposium on Flexible Automation Part 1 (of 2), San Francisco, CA, USA, .8 p.
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Yang, HS & Slotine, JJE 1992, 'On-line, point-to-point near minimum-time feedback control of robot manipulators', Paper presented at Proceedings of the 1992 Japan - USA Symposium on Flexible Automation Part 1 (of 2), San Francisco, CA, USA, 92/7/13 - 92/7/15 pp. 555-562.

On-line, point-to-point near minimum-time feedback control of robot manipulators. / Yang, Hyun S.; Slotine, Jean Jacques E.

1992. 555-562 Paper presented at Proceedings of the 1992 Japan - USA Symposium on Flexible Automation Part 1 (of 2), San Francisco, CA, USA, .

Research output: Contribution to conferencePaper

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AB - Solving minimum-time point-to-point motion control problems, for robot manipulators with actuator bounds, has been an important research area in the robotics literature. Execution-time of specific tasks and productivity are directly related for industrial robots, and similarly size and energy requirements are critical for space robots. Finding minimum-time strategies, however, even when the dynamic equations and parameters are precisely known, is understood to be difficult and computationally intensive, so that minimum-time trajectory planning is typically performed off-line. In this paper, a simple real-time feedback control scheme is proposed, which is effective in achieving point-to-point tasks in near minimum-time, using a so-called 'two-step' Lyapunov approach. The performance of the proposed method is simulated and compared with true optimal solutions.

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Yang HS, Slotine JJE. On-line, point-to-point near minimum-time feedback control of robot manipulators. 1992. Paper presented at Proceedings of the 1992 Japan - USA Symposium on Flexible Automation Part 1 (of 2), San Francisco, CA, USA, .