Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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A DIGITAL ALGORITHM FOR NEAR-MINIMUM-TIME CONTROL OF ROBOT MANIPULATORS

로보트 메뉴플레이터의 NEAR-MINIMUM-TIME 제어에 대한 디지탈 알고리즘의 개발

  • Park, How-Sea (Dept. of Electronic Eng., Graduate School Kyung Hee University) ;
  • Bae, Jun-Kyung (Dept. of Electronic Eng., Graduate School Kyung Hee University) ;
  • Park, Chong-Kuk (Dept. of Electronic Eng., Graduate School Kyung Hee University)
  • 박화세 (경희 대학교 대학원 전자공학과) ;
  • 배준경 (경희 대학교 대학원 전자공학과) ;
  • 박종국 (경희 대학교 대학원 전자공학과)
  • Published : 1987.11.20
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Abstract

For an increased level of productivity, it is important that the end-point of a robot manipulator moves from an initial location to final position in the minimum time subject to the available maximum actuator's torque (or force) at each joints. The main issue is to develop an algorithm to compute the actuators in real-time. In this paper, a digital state feedback control algorithm has bean developed to obtain the near-minimum-time trajectory for the end-effector of a robot manipulator. In this algorithm, the poles of the linearized closed loop system are judiciously placed in the Z-plane to permit minimum-time response without violating the constraints on the actuator torques. The validity of this algorithm have been established using numerical simulations. A three-link manipulator in chosen for this purpose and results are discussed for three different combinations of initial and final station.

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