基于启发式方法的机器人时间最优控制

Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1900-01-01 DOI:10.1109/ROMOCO.1999.791073

P. Gawłowicz

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引用次数: 3

摘要

研究了存在几何约束条件下机器人的时间最优运动规划问题。在庞特里亚金极大值原理的基础上推导出时间最优控制。得到了bang-bang类型的控件。分析了机械手的运动规划控制和切换顺序。

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Time optimal control of robots based on heuristic method

This paper deals with the time optimal motion planning of a robot in the presence of geometrical constraints. The time optimal controls are derived on the basis of the Pontryagin's maximum principle. The bang-bang types of controls are obtained. An analysis of the control of manipulator motion planning and a sequence of switching is included.

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Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)

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