Theoretical investigation of a time-suboptimal control method for rotational motions of industrial manipulators end-effectors

Abstract

A time suboptimal control method is developed for rotational motions of industrial manipulators end-effectors. A set of nonlinear equations is obtained and linearized at each time step of the motion. A method which yields the time suboptimal joint angular velocities as functions of time is developed by considering constraints on joint velocities as well as joint and tool center point frame accelerations. The method is demonstrated on a six-degree-of-freedom elbow-type manipulator.