Time-optimum control for some manipulators using maximum principle and dynamic programming

被引：0

作者：

Cheshankov, Bozhidar ^{[1
]}

Jozefczyk, Jerzy ^{[1
]}

机构：

[1] VMEI, Bulgaria

来源：

Systems Science | 1988年 / 14卷 / 02期

关键词：

Control Systems; Optimal - Kinematics - Mathematical Programming; Dynamic;

D O I：

暂无

中图分类号：

学科分类号：

摘要：

The problem of controlling a manipulator whose kinematic scheme corresponds to a working zone described by a cylindrical coordinate system is considered. The control is achieved by means of a torque, acting for a rotation, and two forces which act for the longitudinal and the vertical movements. By using a heuristic approach, suboptimal control laws which achieve time-optimum control have been established. The same problem is solved also by dynamic programming and the results are compared.

引用

页码：19 / 30

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