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Paper details
Number 2 - June 1997
Volume 7 - 1997
Time-optimal control of redundant manipulators
Mirosław Galicki, Grzegorz Pająk, Iwona Pająk
Abstract
A method of finding optimal controls for both non-redundant and redundant manipulators is considered. It is based on a strict convexifying of the original control set with any desired accuracy in the Hausdorff sense. The optimal controls thus obtained are shown to converge (weakly) to a bang-bang solution. Furthermore, this method produces also controls which may be directly used
to provide nominal inputs in on-line manipulator control. A simple numerical example involving a three-degree-of-freedom revolute kinematically redundant manipulator is presented
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