کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
731970 893192 2009 9 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Flexible joints control: A minimum-time feed-forward technique
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله
Flexible joints control: A minimum-time feed-forward technique
چکیده انگلیسی

The paper proposes a linear programming approach to the feed-forward minimum-time control of flexible joints. Taking into account both input and output constraints, the optimal bang–bang control is computed by discretizing a continuous-time joint model and by solving a sequence of linear programming feasibility problems. The resulting joint motion is a smooth rest-to-rest motion without oscillations. Theoretical analysis is presented and proof of convergence is given. Experimental results illustrate the proposed open-loop technique. Comparisons are made with inversion-based techniques.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechatronics - Volume 19, Issue 3, April 2009, Pages 348–356
نویسندگان
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