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System Modelling and Optimization pp 342–347Cite as

Planar robot motion with an obstacle: -Synthesis of time-optimal control

  • Optimal Control
  • Conference paper
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Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 143))

Abstract

A direct approach to the control synthesis of point-to-point motion is suggested. The presence of one obstacle in the plane of gripper motion jields two two-point boundary-value problems which are solved employing bang-bang control functions. Varying the velocity at the common point of this boundary-value problems one can minimize the total movement execution time. A complete dynamic model of a two-degree of freedom manipulator is taken into consideration.

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References

  1. Marinov, P. and P. Kiriazov, A Direct Method for Optimal Control Synthesis of Manipulator Point-to-Point Motion. Proc. of the 9-th World congress of IFAC. Eds J. Gertler and L. Keviczky. Vol. 1, 1985, pp. 453–457

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  5. Marinov, P. and P. Kiriazov, Synthesis of Time-Optimal Control for Manipulator Dynamics. Theor. and Appl. Mech., Publ. House of the Bulgarian Academy of Sciences, Year 15, n 1, 1984, pp. 13–19

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Author information

Authors and Affiliations

  1. Institute of Mechanics & Biomechanics, Bulgarian Academy of Sciences, Acad. G. Bonchev Str., Bl. 4, 1113, Sofia, Bulgaria

    Pencho Marinov & Petko Kiriazov

Authors
  1. Pencho Marinov
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  2. Petko Kiriazov
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Editor information

H. -J. Sebastian K. Tammer

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© 1990 International Federation for Information Processing

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Marinov, P., Kiriazov, P. (1990). Planar robot motion with an obstacle: -Synthesis of time-optimal control. In: Sebastian, H.J., Tammer, K. (eds) System Modelling and Optimization. Lecture Notes in Control and Information Sciences, vol 143. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0008385

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  • DOI: https://doi.org/10.1007/BFb0008385

  • Published:

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-52659-9

  • Online ISBN: 978-3-540-47095-3

  • eBook Packages: Springer Book Archive

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