Abstract
The problems of robot controllability and time-optimal control where drive train compliances and actuator dynamics are incorporated in the mathematical model is the subject of this note. This study demonstrates the conditions that ensure the existence of a time-optimal control, and establishes controllability of the augmented model (robot and actuator) in open- and closed-loop form. This note describes a procedure for the derivation of easily computable functional inequalities which represent upper bounds on the norm of the augmented system’s time response.
| Original language | English |
|---|---|
| Pages (from-to) | 852-856 |
| Number of pages | 5 |
| Journal | IEEE Transactions on Automatic Control |
| Volume | 33 |
| Issue number | 9 |
| DOIs | |
| State | Published - 1 Jan 1988 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Science Applications
- Electrical and Electronic Engineering