This paper presents a general necessary condition for singular time optimal control of robotic manipulation moving along specified paths.
The time optimal control problem of robotic manipulators moving along specified paths has been efficiently solved by reducing the task space to path coordinates ...
This paper presents a general necessary condition for singular time optimal control of robotic manipulation moving along specified paths.
This paper presents a general necessary condition for singular time optimal control of robotic manipulation moving along specified paths.
This paper presents a general necessary condition for singular time optimal control of robotic manipulation moving along specified paths.
The algorithm can be used for any manipulator that has rigid links, known dynamic equations of motion, and joint angles that can be determined at a given.
This paper presents a general necessary condition for singular time optimal control of robotic manipulation moving along specified paths.
This paper presents a general necessary condition for singular time optimal control of robotic manipulation moving along specified paths.
The minimum-time manipulator control problem is solved for the case when the path is specified and the actuator torque limitations are known.
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