A New Optimization Algorithm for Singular and Non-Singular Digital Time-optimal Control of Robots
نویسندگان
چکیده
Time-optimal controls for 2-link robots are often of bang-bang type. Many algorithms to solve timeoptimal robot control problems a-priori assume the optimal control to be bang-bang. Industrial robot,s very often have 5 or 6 links and then the associated time-optimal controls are usually singular. This paper presents a new algorithm that enables computation of both bang-bang and singular time-optimal controls for robots. The algorithm usw both the conjugent gradient and Gauss-Newton method to enhance its efficiency and does not require state-parameterization, which introduces additional errors. The algorithm is used to compute time-optimal controls for an industrial 5 link robot model including gravity and viscous friction.
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