MANIPULATION
Remarks on the time-optimal control of two-link manipulators
Eduardo D. Sontag, Héctor J. Sussmann
- Year
- 1985
- Citations
- 25
Abstract
Various preliminary results are given related to the problem of characterizing singular and time-optimal trajectories for (planar, rigid) two-link robotic manipulators with torque constraints. Most of the results are consequences of the nice Lie-algebraic structure of the corresponding control system.
Keywords
Link (geometry)Control theory (sociology)TorquePlanarAlgebraic numberControl (management)Optimal controlComputer scienceMathematicsMathematical optimization
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