Please use this identifier to cite or link to this item: https://hdl.handle.net/20.500.11851/7689
Title: Theoretical investigation of a time-suboptimal control method for rotational motions of industrial manipulators end-effectors
Authors: Kılıçaslan, Sinan
Ercan, Yücel
Keywords: constant position problem
end-effector orientational motion
end-effector rotational motion
manipulators
robots
time suboptimal control
Issue Date: 2005
Publisher: Springer
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.
URI: https://doi.org/10.1007/s10846-005-9023-3
https://hdl.handle.net/20.500.11851/7689
ISSN: 0921-0296
Appears in Collections:Makine Mühendisliği Bölümü / Department of Mechanical Engineering
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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