An approach to the minimum time control of a simple flexible armReport as inadecuate


An approach to the minimum time control of a simple flexible arm


An approach to the minimum time control of a simple flexible arm - Download this document for free, or read online. Document in PDF available to download.

To enable faster robot arm motion one might reduce the arm weight and use a minimum time control. Light arms will be flexible. A simple example of a light arm is a single beam, rotating about one end, and subject to bending. This paper models such a beam in modal coordinates, linearizes the model, and formulates the control according to an algorithm developed by Plant and Athans. This algorithm moves the system state to a hypersphere near the origin in minimum time. The objective of this research is to understand the nature of the optimal control to aid in formulating a more practical suboptimal control.



Intelligent Machine Dynamics Laboratory - Intelligent Machine Dynamics Laboratory Publications -



Author: Book, Wayne John - Sangveraphunsiri, Viboon - -

Source: https://smartech.gatech.edu/







Related documents