New Approach to the Design of the Near Time Optimal Path Following Controller for the Manipulating Robots
نویسنده
چکیده
In presented work, the new approach to the design of the near time optimal path following controller for manipulating robots (MR) is considered. We propose analytical algorithms forming procedure of controls, which account nonlinear, dynamical MR’s qualities and desired motion pattern. The proposed control algorithm and its structural realization allow to organize motion of MR's effector along the set trajectories with a near maximal contour (trajectory) speed.
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