Minimum-time pointing control for the end-effector of a planar, two-link manipulator is developed. Minimum-time pointing control is a new area of research for multilink manipulators, which can be applied to rapid retargeting control of a multibody spacecraft. The minimum-time control problem of aligning the second link of the two-link manipulator with a given target point is considered. A numerical method called the minimizing-boundary-condition method is used to determine optimal solutions for the two-point boundary-value problem associated with first-order necessary conditions. Minimum-time solutions for different models of pointing systems are compared. The results of the comparison show that a two-link manipulator with two degree-of-freedom performs better than a conventional one-link system for minimum-time pointing.


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    Titel :

    Minimum-time pointing control of a two-link manipulator


    Beteiligte:
    Wie, Bong (Autor:in) / Chuang, Chien-Hsiung (Autor:in) / Sunkel, John (Autor:in)

    Kongress:

    AIAA Guidance, Navigation and Control Conference ; 1988 ; Minneapolis, MN, United States


    Erscheinungsdatum :

    1988-01-01


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Keine Angabe


    Sprache :

    Englisch


    Schlagwörter :


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