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

  • Authors:

  • Sinan Kilicaslan;Yucel Ercan

  • Affiliations:

  • Mechanical Engineering Department, Gazi University, Maltepe, Ankara, Turkey 06570;Mechanical Engineering Department, TOBB Economics and Technology University, Sogutozu, Ankara, Turkey 06560

  • Venue:
  • Journal of Intelligent and Robotic Systems
  • Year:
  • 2007

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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.