TY - GEN
T1 - On the optimal control of robotic manipulators with actuator and end-effector constraints
AU - Shiller, Z.
AU - Dubowsky, S.
N1 - Publisher Copyright:
© 1985 IEEE.
PY - 1985
Y1 - 1985
N2 - The motion of current industrial manipulators is typically controlled so that tasks are not done in a minimum time optimal manner. The result is substantially lower productivity than that potentially possible. Recently a computationally efficient algorithm has been developed to find the true minimum time optimal motion for a manipulator moving along a specified path in space that uses both the full nonlinear dynamic character of the manipulator and the constraints imposed by its actuators '. A Computer Aided Design (CAD) implementation of the algorithm called OPTARM is described which can treat practically general six degree-of-freedom manipulators. Examples are presented which show OPTARM to be a useful design tool for manipulators, their tasks and work places. The algorithm is extended in OPTARM to include the constraints imposed by manipulator payloads and end-effectors.
AB - The motion of current industrial manipulators is typically controlled so that tasks are not done in a minimum time optimal manner. The result is substantially lower productivity than that potentially possible. Recently a computationally efficient algorithm has been developed to find the true minimum time optimal motion for a manipulator moving along a specified path in space that uses both the full nonlinear dynamic character of the manipulator and the constraints imposed by its actuators '. A Computer Aided Design (CAD) implementation of the algorithm called OPTARM is described which can treat practically general six degree-of-freedom manipulators. Examples are presented which show OPTARM to be a useful design tool for manipulators, their tasks and work places. The algorithm is extended in OPTARM to include the constraints imposed by manipulator payloads and end-effectors.
UR - http://www.scopus.com/inward/record.url?scp=0002554354&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.1985.1087305
DO - 10.1109/ROBOT.1985.1087305
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AN - SCOPUS:0002554354
SN - 0818606150
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 614
EP - 620
BT - Proceedings - 1985 IEEE International Conference on Robotics and Automation, ICRA 1985
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2nd IEEE International Conference on Robotics and Automation, ICRA 1985
Y2 - 25 March 1985 through 28 March 1985
ER -