Theoretical Investigation of a Time-Suboptimal Control Method for Rotational Motions of Industrial Manipulators End-Effectors
| Autor: | Yucel Ercan, Sinan Kilicaslan |
|---|---|
| Rok vydání: | 2005 |
| Předmět: |
musculoskeletal diseases
Engineering business.industry Mechanical Engineering Frame (networking) Motion (geometry) Robot end effector Industrial and Manufacturing Engineering law.invention Nonlinear system Artificial Intelligence Control and Systems Engineering law Control theory Robot Point (geometry) Electrical and Electronic Engineering business Joint (geology) Software Control methods |
| Zdroj: | Journal of Intelligent and Robotic Systems. 44:71-92 |
| ISSN: | 1573-0409 0921-0296 |
| DOI: | 10.1007/s10846-005-9023-3 |
| Popis: | A time suboptimal control method is developed for rotational motions of industrial manipulators end-effectors. A set of nonlinear equations is obtained and linearized at each time step of the motion. A method which yields the time suboptimal joint angular velocities as functions of time is developed by considering constraints on joint velocities as well as joint and tool center point frame accelerations. The method is demonstrated on a six-degree-of-freedom elbow-type manipulator. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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