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Title: Theoretical investigation of time suboptimal control of industrial manipulators along specified paths
Authors: Kılıçaslan, Sinan
Ercan, Yücel
Keywords: constant orientation motion
constant position motion
manipulator motion control
robot motion control
time suboptimal control
trajectory tracking
Issue Date: 2007
Publisher: Springer
Abstract: A method for the time suboptimal control of an industrial manipulator from an initial position and orientation to a final position and orientation as it moves along a specified path is proposed. Nonlinear system equations that describe the manipulator motion are linearized at each time step along the path. A method which gives the control inputs (joint angular velocities) for time suboptimal control of the manipulator is developed. In the formulation, joint angular velocity and acceleration limitations are also taken into consideration. A six degree of freedom elbow type manipulator is used in numerical examples to verify the method developed.
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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