An approach to the minimum time control of a simple flexible arm

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dc.contributor.author Book, Wayne John en_US
dc.contributor.author Sangveraphunsiri, Viboon en_US
dc.date.accessioned 2011-06-13T20:11:48Z
dc.date.available 2011-06-13T20:11:48Z
dc.date.issued 1983-11
dc.identifier.citation Book, 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.uri http://hdl.handle.net/1853/39100
dc.description © 1983 ASME en_US
dc.description Presented 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.abstract To 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.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.subject Robot arm motion en_US
dc.subject Weight reduction en_US
dc.subject Algorithms en_US
dc.subject Control systems en_US
dc.subject Mathematical models en_US
dc.title An approach to the minimum time control of a simple flexible arm en_US
dc.type Proceedings en_US
dc.contributor.corporatename Georgia Institute of Technology. School of Mechanical Engineering en_US
dc.contributor.corporatename Georgia Institute of Technology. Center for Robotics and Intelligent Machines en_US
dc.publisher.original American Society of Mechanical Engineers en_US


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