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Time Optimal Control

  • Reza N. Jazar

Abstract

The most important job of industrial robots is moving between two points rest-to-rest. Minimum time control is what we need to increase industrial robots productivity. The objective of time-optimal control is to transfer the end-effector of a robot from an initial position to a desired destination in minimum time. Consider a system with the following equation of motion:
$$ \dot x = f(x(t),Q(t)) $$
(14.1)
where Q is the control input, and x is the state vector of the system
$$ x = \left[ {\begin{array}{*{20}c} q \\ {\dot q} \\ \end{array} } \right]. $$
(14.2)
The minimum time problem is always subject to bounded input such as
$$ \left| {Q\left( t \right)} \right| \leqslant Q_{Max} . $$
(14.3)

Keywords

Optimal Path Switching Point Control Command Time Optimal Control Optimal Input 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer Science+Business Media, LLC 2007

Authors and Affiliations

  • Reza N. Jazar
    • 1
  1. 1.Department of Mechanical EngineeringManhattan CollegeRiverdale

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