Details
| Original language | English |
|---|---|
| Pages (from-to) | 589-616 |
| Number of pages | 28 |
| Journal | Journal of Optimization Theory and Applications |
| Volume | 84 |
| Issue number | 3 |
| Publication status | Published - Mar 1995 |
| Externally published | Yes |
Abstract
The problem of the time-optimal control of robot manipulators is of importance because of its potential for increasing the productivity of assembly lines. This work is part of a series of papers by the authors on this topic using direct and indirect methods of optimization. A cylindrical robot or a spherical polar robot constrained to the horizontal plane is considered, and optimal solutions for radial maneuvers are generated. Indirect methods are employed in order to establish the switching structure of the solutions. The results show that even such apparently simple maneuvers as extension or retraction of a robot with a prismatic joint can produce very complex optimal solutions. Time-optimal retraction can exhibit ten different switching structures with eight switching points and two singular arcs.
Keywords
- maximum principle, multi-point boundary value problems, multiple shooting, Optimal control, path planning, robotics
ASJC Scopus subject areas
- Mathematics(all)
- Control and Optimization
- Decision Sciences(all)
- Management Science and Operations Research
- Mathematics(all)
- Applied Mathematics
Cite this
- Standard
- Harvard
- Apa
- Vancouver
- BibTeX
- RIS
In: Journal of Optimization Theory and Applications, Vol. 84, No. 3, 03.1995, p. 589-616.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Time-optimal extension and retraction of robots
T2 - Numerical analysis of the switching structure
AU - Steinbach, M. C.
AU - Bock, Hans Georg
AU - Longman, R. W.
PY - 1995/3
Y1 - 1995/3
N2 - The problem of the time-optimal control of robot manipulators is of importance because of its potential for increasing the productivity of assembly lines. This work is part of a series of papers by the authors on this topic using direct and indirect methods of optimization. A cylindrical robot or a spherical polar robot constrained to the horizontal plane is considered, and optimal solutions for radial maneuvers are generated. Indirect methods are employed in order to establish the switching structure of the solutions. The results show that even such apparently simple maneuvers as extension or retraction of a robot with a prismatic joint can produce very complex optimal solutions. Time-optimal retraction can exhibit ten different switching structures with eight switching points and two singular arcs.
AB - The problem of the time-optimal control of robot manipulators is of importance because of its potential for increasing the productivity of assembly lines. This work is part of a series of papers by the authors on this topic using direct and indirect methods of optimization. A cylindrical robot or a spherical polar robot constrained to the horizontal plane is considered, and optimal solutions for radial maneuvers are generated. Indirect methods are employed in order to establish the switching structure of the solutions. The results show that even such apparently simple maneuvers as extension or retraction of a robot with a prismatic joint can produce very complex optimal solutions. Time-optimal retraction can exhibit ten different switching structures with eight switching points and two singular arcs.
KW - maximum principle
KW - multi-point boundary value problems
KW - multiple shooting
KW - Optimal control
KW - path planning
KW - robotics
UR - http://www.scopus.com/inward/record.url?scp=34249755365&partnerID=8YFLogxK
U2 - 10.1007/BF02191987
DO - 10.1007/BF02191987
M3 - Article
AN - SCOPUS:34249755365
VL - 84
SP - 589
EP - 616
JO - Journal of Optimization Theory and Applications
JF - Journal of Optimization Theory and Applications
SN - 0022-3239
IS - 3
ER -