RUS  ENG
Full version
JOURNALS // Avtomatika i Telemekhanika // Archive

Avtomat. i Telemekh., 2021 Issue 2, Pages 3–15 (Mi at15474)

This article is cited in 2 papers

Linear Systems

Time-optimal control of gripper motion in a two-link manipulator with allowance for the terminal configuration

V. V. Avetisyan

Yerevan State University, Yerevan, 0025 Armenia

Abstract: We consider a time-optimal control problem for the motion of a point gripper of a plane two-link manipulator with linear links of equal length, the second link being statically balanced. Domains of attainable configurations are constructed on the plane of generalized manipulator coordinates. These domains permit one to determine which of the two final point configurations corresponding to a given gripper terminal position, together with the manipulator control method, ensures the gripper motion from the initial rest position to a given final rest position in minimum time. It is established by numerical calculations that the optimal choice of the final configuration can significantly improve the response speed.

Keywords: two-link manipulator, time-optimal control, terminal configuration type.

Presented by the member of Editorial Board: A. A. Galyaev

Received: 21.05.2020
Revised: 01.08.2020
Accepted: 10.09.2020

DOI: 10.31857/S000523102102001X


 English version:
Automation and Remote Control, 2021, 82:2, 189–199

Bibliographic databases:


© Steklov Math. Inst. of RAS, 2024