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

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dc.contributor.author Book, Wayne J. en_US
dc.contributor.author Sangveraphunsiri, Viboon en_US
dc.contributor.corporatename Georgia Institute of Technology. School of Mechanical Engineering en_US
dc.contributor.corporatename Georgia Institute of Technology. Center for Robotics and Intelligent Machines en_US
dc.date.accessioned 2011-06-13T20:11:48Z
dc.date.available 2011-06-13T20:11:48Z
dc.date.issued 1983-11
dc.description © 1983 ASME en_US
dc.description Presented at the Winter annual meeting of the American Society of Mechanical Engineers; Boston - Mass., November 13-18, 1983: Control of manufacturing processes and robotic systems . en_US
dc.description.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. en_US
dc.identifier.citation Book, Wayne, and V. Sangveraphunsiri, "An Approach to the Minimum Time Control of A Simple Flexible Arm," Control of Manufacturing Processes and Robotics, W. Book, D. Hardt (ed.), December 1983. Papers presented at the ASME Winter Meeting, Boston, Massachusetts, 219-232. en_US
dc.identifier.uri http://hdl.handle.net/1853/39100
dc.language.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.publisher.original American Society of Mechanical Engineers en_US
dc.subject Robot arm motion en_US
dc.subject Weight reduction en_US
dc.subject Algorithms en_US
dc.subject Control systems en_US
dc.subject Mathematical models en_US
dc.title An approach to the minimum time control of a simple flexible arm en_US
dc.type Text
dc.type.genre Proceedings
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)
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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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