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.


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    Title :

    Time optimal control of manipulators with bounded accelerations


    Contributors:

    Publication date :

    1984-03-01


    Type of media :

    Conference paper


    Type of material :

    No indication


    Language :

    English


    Keywords :


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