The DOI matches its Crossref record; 4 of the 4 references it cites were found in a registry or an index.
Time-Optimal Control of Robotic Manipulators Along Specified Paths
Abstract
The minimum-time manipulator control problem is solved for the case when the path is specified and the actuator torque limitations are known. The optimal open-loop torques are found, and a method is given for implementing these torques with a conventional linear feedback control system. The algorithm allows bounds on the torques that may be arbitrary functions of the joint angles and angular velocities. This method is valid for any path and orientation of the end- effector that is specified. The algorithm can be used for any manipulator that has rigid links, known dynamic equations of motion, and joint angles that can be determined at a given position on the path.
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Citations
Cites
Ogata, K., & Brewer, J. W. (1971) · Journal of Dynamic Systems, Measurement, and Control · doi:10.1115/1.3426465 · Cited by 6,358
Ordinary Differential Equations.
Langenhop, C. E., Birkhoff, G., & Rota, G.-C. (1963) · The American Mathematical Monthly · doi:10.2307/2312290 · Cited by 1,317
Kirk, D. E. (1970) · Cited by 910
Dynamic Scaling of Manipulator Trajectories
Hollerbach, J. M. (1984) · Journal of Dynamic Systems, Measurement, and Control · doi:10.1115/1.3149652 · Cited by 338
Cited by
Randomized Kinodynamic Planning
LaValle, S. M., & Kuffner, J. J. (2001) · The International Journal of Robotics Research · doi:10.1177/02783640122067453 · Cited by 3,254
A review of mobile robots: Concepts, methods, theoretical framework, and applications
Rubio, F., Valero, F., & Llopis-Albert, C. (2019) · International Journal of Advanced Robotic Systems · doi:10.1177/1729881419839596 · Cited by 763
A concept for manipulator trajectory planning
Pfeiffer, F., & Johanni, R. (1987) · IEEE Journal on Robotics and Automation · doi:10.1109/jra.1987.1087090 · Cited by 478
The evolution of robotics research
Garcia, E., Jimenez, M. A., De Santos, P. G., & Armada, M. (2007) · IEEE Robotics & Automation Magazine · doi:10.1109/mra.2007.339608 · Cited by 371
Metadata
- Authors
- Bobrow, J. E., Dubowsky, S., & Gibson, J. S.
- Venue
- The International Journal of Robotics Research
- Publisher
- SAGE Publications
- Published
- 1985-09
- Volume
- 4
- Issue
- 3
- Pages
- 3-17
- ISSN
- 0278-3649 (ISSN-L)
- 1741-3176
- OpenAlex
- W2115091574
- Cited by
- 1,315
- References
- 4
- FWCI
- 16.19
- Type
- journal article
- Language
- en
- Open access
- closed
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- Bobrow, J. E., Dubowsky, S., & Gibson, J. S. (1985). Time-Optimal Control of Robotic Manipulators Along Specified Paths. The International Journal of Robotics Research. https://doi.org/10.1177/027836498500400301
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Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
