On the optimal control of robotic manipulators with actuator and end-effector constraints

Z. Shiller, S. Dubowsky

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

43 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publicationProceedings - 1985 IEEE International Conference on Robotics and Automation, ICRA 1985
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages614-620
Number of pages7
ISBN (Print)0818606150
DOIs
StatePublished - 1985
Externally publishedYes
Event2nd IEEE International Conference on Robotics and Automation, ICRA 1985 - St. Louis, United States
Duration: 25 Mar 198528 Mar 1985

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2nd IEEE International Conference on Robotics and Automation, ICRA 1985
Country/TerritoryUnited States
CitySt. Louis
Period25/03/8528/03/85

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