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dc.contributor.authorBook, Wayne Johnen_US
dc.contributor.authorSangveraphunsiri, Viboonen_US
dc.date.accessioned2011-06-13T20:11:48Z
dc.date.available2011-06-13T20:11:48Z
dc.date.issued1983-11
dc.identifier.citationBook, Wayne, and V. Sangveraphunsiri, "An Approach to the Minimum Time Control of A Simple Flexible Arm," Control of Manufacturing Processes and Robotics, W. Book, D. Hardt (ed.), December 1983. Papers presented at the ASME Winter Meeting, Boston, Massachusetts, 219-232.en_US
dc.identifier.urihttp://hdl.handle.net/1853/39100
dc.description© 1983 ASMEen_US
dc.descriptionPresented at the Winter annual meeting of the American Society of Mechanical Engineers; Boston - Mass., November 13-18, 1983: Control of manufacturing processes and robotic systems .en_US
dc.description.abstractTo enable faster robot arm motion one might reduce the arm weight and use a minimum time control. Light arms will be flexible. A simple example of a light arm is a single beam, rotating about one end, and subject to bending. This paper models such a beam in modal coordinates, linearizes the model, and formulates the control according to an algorithm developed by Plant and Athans. This algorithm moves the system state to a hypersphere near the origin in minimum time. The objective of this research is to understand the nature of the optimal control to aid in formulating a more practical suboptimal control.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectRobot arm motionen_US
dc.subjectWeight reductionen_US
dc.subjectAlgorithmsen_US
dc.subjectControl systemsen_US
dc.subjectMathematical modelsen_US
dc.titleAn approach to the minimum time control of a simple flexible armen_US
dc.typeProceedingsen_US
dc.contributor.corporatenameGeorgia Institute of Technology. School of Mechanical Engineeringen_US
dc.contributor.corporatenameGeorgia Institute of Technology. Center for Robotics and Intelligent Machinesen_US
dc.publisher.originalAmerican Society of Mechanical Engineersen_US


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