Optimizing Point to Point Motion of Net Velocity Constrained Manipulators

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Please use this identifier to cite or link to this item: http://hdl.handle.net/1853/38973

Title: Optimizing Point to Point Motion of Net Velocity Constrained Manipulators
Author: Enes, Aaron R. ; Book, Wayne John
Abstract: The architecture of many hydraulic manipulators, such as excavators common in the earthmoving industry, have constraints on the net sum of actuator speeds. This paper gives the necessary conditions for minimum-time velocity commands for point to point motion. A kinematic model of the manipulator is used. The optimal solution is not always unique. We propose a particular optimal solution, u*, that is stationary. The optimality of inputs unequal to u* is evaluated by the position of u* in the input domain. Several examples are given to demonstrate the analysis.
Description: ©2010 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. Presented at the 2010 49th IEEE Conference on Decision and Control (CDC) 15-17 December 2010, Atlanta, GA. DOI: 10.1109/CDC.2010.5718135
Type: Proceedings
URI: http://hdl.handle.net/1853/38973
ISSN: 0743-1546
ISBN: 978-1-4244-7745-6
Citation: Aaron R. Enes and Wayne J. Book , “Optimizing Point to Point Motion of Net Velocity Constrained Manipulators,” Proceedings of the 49th IEEE Conference on Decision and Control (CDC), Atlanta, GA, 15-17 Dec. 2010, 6415 - 6420 .
Date: 2010-12
Contributor: Georgia Institute of Technology. School of Mechanical Engineering
Lincoln Laboratory
Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Publisher: Georgia Institute of Technology
Institute of Electrical and Electronics Engineers
Subject: Hydraulic systems

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