The paper proposes a linear programming approach to the feed-forwardminimum-time control of flexiblejoints. Taking into account both input and output constraints, the optimal bang–bang control is computed by discretizing a continuous-timejoint 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.
Flexible joints control: A minimum-time feed-forward technique / Consolini, Luca; Gerelli, O; GUARINO LO BIANCO, Corrado; Piazzi, Aurelio. - In: MECHATRONICS. - ISSN 0957-4158. - 19:(2009), pp. 348-356. [10.1016/j.mechatronics.2008.10.005]
Flexible joints control: A minimum-time feed-forward technique
CONSOLINI, Luca;GUARINO LO BIANCO, Corrado;PIAZZI, Aurelio
2009-01-01
Abstract
The paper proposes a linear programming approach to the feed-forwardminimum-time control of flexiblejoints. Taking into account both input and output constraints, the optimal bang–bang control is computed by discretizing a continuous-timejoint 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.File | Dimensione | Formato | |
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