The main job of an industrial robot is to move an object on a pre-specified path, rest-to-rest, repeatedly. To increase productivity, the robot should do the job in minimum time. In this chapter we introduce a numerical method to solve the time optimal control problem of multi degree of freedom robots. The most important job of industrial robots is moving between two points rest-to-rest. Minimum time control is what we need to increase industrial robots productivity. The objective of time optimal control is to transfer the end-effector of a robot from an initial position to a desired destination in minimum time. Practically, every actuator can provide only a bounded output. When an actuator is working on its limit, we call it saturated. Time optimal control of an n DOF robot has a simple solution: At every instant of time, at least one actuator must be saturated while the others are within their limits. Floating time is an applied method to find the saturated actuator, the switching points, and the output of the non-saturated actuators. Switching points are the points that the saturated actuator switches with another one. The floating time method is based on discrete equations of motion, utilizing variable time increments. Then, following a recursive algorithm, it calculates the required output for the robot’s actuators to follow a given path of motion.


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    Titel :

    \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document} $$\bigstar $$ \end{document} Time Optimal Control


    Beteiligte:
    Jazar, Reza N. (Autor:in)

    Erschienen in:

    Theory of Applied Robotics ; Kapitel : 13 ; 731-757


    Erscheinungsdatum :

    2021-12-08


    Format / Umfang :

    27 pages




    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch