Title:
An approach to the minimum time control of a simple flexible arm
An approach to the minimum time control of a simple flexible arm
Author(s)
Book, Wayne J.
Sangveraphunsiri, Viboon
Sangveraphunsiri, Viboon
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Abstract
To enable faster robot arm motion one might reduce the arm weight and use a minimum time control. Light arms will be flexible. A simple example of a light arm is a single beam, rotating about one end, and subject to bending. This paper models such a beam in modal coordinates, linearizes the model, and formulates the control according to an algorithm developed by Plant and Athans. This algorithm moves the system state to a hypersphere near the origin in minimum time. The objective of this research is to understand the nature of the optimal control to aid in formulating a more practical suboptimal control.
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1983-11
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Text
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Proceedings