An approach to the minimum time control of a simple flexible arm

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AN APPROACH TO THE MINIMUM TIME CONTROL OF A SIMPLE FLEXIBLE ARM 2.pdf (460.39 KB)
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Sangveraphunsiri, Viboon
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http://hdl.handle.net/1853/39100
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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