The linearity of the equations of motion of dynamical systems such as spacecraft or manipulators when controlled by acceleration commands is exploited in generating exact fast maneuvers. A simulated robot example thereof is examined, with advantages and limitations of the proposed design approach discussed in its context.
Time optimal control of manipulators with bounded accelerations
01.03.1984
Aufsatz (Konferenz)
Keine Angabe
Englisch
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