Theoretical investigation of a time-suboptimal control method for rotational motions of industrial manipulators end-effectors

Kilicaslan S., Ercan Y.

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, cilt.44, sa.1, ss.71-92, 2005 (SCI-Expanded) identifier identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 44 Sayı: 1
  • Basım Tarihi: 2005
  • Doi Numarası: 10.1007/s10846-005-9023-3
  • Dergi Adı: JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
  • Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Sayfa Sayıları: ss.71-92
  • Gazi Üniversitesi Adresli: Hayır

Özet

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.