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

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Title: An approach to the minimum time control of a simple flexible arm
Author: Book, Wayne John ; Sangveraphunsiri, Viboon
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.
Description: © 1983 ASME 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 .
Type: Proceedings
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.
Date: 1983-11
Contributor: Georgia Institute of Technology. School of Mechanical Engineering
Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Publisher: Georgia Institute of Technology
American Society of Mechanical Engineers
Subject: Robot arm motion
Weight reduction
Control systems
Mathematical models

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