Title:
Optimizing Point to Point Motion of Net Velocity Constrained Manipulators
Optimizing Point to Point Motion of Net Velocity Constrained Manipulators
| dc.contributor.author | Enes, Aaron R. | en_US |
| dc.contributor.author | Book, Wayne J. | en_US |
| dc.contributor.corporatename | Georgia Institute of Technology. School of Mechanical Engineering | en_US |
| dc.contributor.corporatename | Lincoln Laboratory | en_US |
| dc.contributor.corporatename | Georgia Institute of Technology. Center for Robotics and Intelligent Machines | en_US |
| dc.date.accessioned | 2011-05-24T20:05:54Z | |
| dc.date.available | 2011-05-24T20:05:54Z | |
| dc.date.issued | 2010-12 | |
| dc.description | ©2010 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. | en_US |
| dc.description | Presented at the 2010 49th IEEE Conference on Decision and Control (CDC) 15-17 December 2010, Atlanta, GA. | en_US |
| dc.description | DOI: 10.1109/CDC.2010.5718135 | en_US |
| dc.description.abstract | The architecture of many hydraulic manipulators, such as excavators common in the earthmoving industry, have constraints on the net sum of actuator speeds. This paper gives the necessary conditions for minimum-time velocity commands for point to point motion. A kinematic model of the manipulator is used. The optimal solution is not always unique. We propose a particular optimal solution, u*, that is stationary. The optimality of inputs unequal to u* is evaluated by the position of u* in the input domain. Several examples are given to demonstrate the analysis. | en_US |
| dc.identifier.citation | Aaron R. Enes and Wayne J. Book , “Optimizing Point to Point Motion of Net Velocity Constrained Manipulators,” Proceedings of the 49th IEEE Conference on Decision and Control (CDC), Atlanta, GA, 15-17 Dec. 2010, 6415 - 6420 . | en_US |
| dc.identifier.isbn | 978-1-4244-7745-6 | |
| dc.identifier.issn | 0743-1546 | |
| dc.identifier.uri | http://hdl.handle.net/1853/38973 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.publisher.original | Institute of Electrical and Electronics Engineers | en_US |
| dc.subject | Hydraulic systems | en_US |
| dc.subject | Excavators | en_US |
| dc.subject | Manipulators | en_US |
| dc.subject | Motion | en_US |
| dc.subject | Optimization | en_US |
| dc.title | Optimizing Point to Point Motion of Net Velocity Constrained Manipulators | en_US |
| dc.type | Text | |
| dc.type.genre | Proceedings | |
| dc.type.genre | Post-print | |
| dspace.entity.type | Publication | |
| local.contributor.author | Book, Wayne J. | |
| local.contributor.corporatename | George W. Woodruff School of Mechanical Engineering | |
| local.contributor.corporatename | College of Engineering | |
| local.contributor.corporatename | Institute for Robotics and Intelligent Machines (IRIM) | |
| relation.isAuthorOfPublication | 45966a3c-59ea-44fc-980a-96d543c035f0 | |
| relation.isOrgUnitOfPublication | c01ff908-c25f-439b-bf10-a074ed886bb7 | |
| relation.isOrgUnitOfPublication | 7c022d60-21d5-497c-b552-95e489a06569 | |
| relation.isOrgUnitOfPublication | 66259949-abfd-45c2-9dcc-5a6f2c013bcf |
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