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Theoretical Investigation of Time Suboptimal Control of Industrial Manipulators Along Specified Paths

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Abstract

A method for the time suboptimal control of an industrial manipulator from an initial position and orientation to a final position and orientation as it moves along a specified path is proposed. Nonlinear system equations that describe the manipulator motion are linearized at each time step along the path. A method which gives the control inputs (joint angular velocities) for time suboptimal control of the manipulator is developed. In the formulation, joint angular velocity and acceleration limitations are also taken into consideration. A six degree of freedom elbow type manipulator is used in numerical examples to verify the method developed.

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Authors and Affiliations

  1. Mechanical Engineering Department, Gazi University, 06570, Maltepe, Ankara, Turkey

    Sinan Kilicaslan

  2. Mechanical Engineering Department, TOBB Economics and Technology University, 06560, Sogutozu, Ankara, Turkey

    Yucel Ercan

Authors
  1. Sinan Kilicaslan
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  2. Yucel Ercan
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Correspondence to Sinan Kilicaslan.

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Kilicaslan, S., Ercan, Y. Theoretical Investigation of Time Suboptimal Control of Industrial Manipulators Along Specified Paths. J Intell Robot Syst 49, 253–277 (2007). https://doi.org/10.1007/s10846-007-9141-1

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  • DOI: https://doi.org/10.1007/s10846-007-9141-1

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