Existence of the time optimal control for robotic manipulatorsUsing Filipov's Theorem, it is shown that the conditions oif nonfinite escape of trajectories, reachability, and convexity of the dynamics over all admissible controls are needed for the existence of a time optimal solution for the robotic equation. With a lower bound for the finite-escape time established using a Liapunov approach, and an upper bound for the time to reach the target established using the exact linearization idea, a single inequality is found which is closely related to the coriolis and the centrifugal terms, the absence of which implies that the domain of existence of the optimal solution can be made arbitrarily large with a large torque constraint. As the work space is finite, this is essentially a global result in practical situations.
Document ID
19870026038
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Wen, J. (California Institute of Technology Jet Propulsion Laboratory, Pasadena, United States)
Desrochers, A. (Rensselaer Polytechnic Institute, Troy, NY, United States)