The paper proposes a linear programming approach to the feedforward 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. Experimental results illustrate the proposed open-loop technique.
Minimum-time control of flexible joints with input and output constraints / Consolini, Luca; O., Gerelli; GUARINO LO BIANCO, Corrado; Piazzi, Aurelio. - (2007), pp. 3811-3816. (Intervento presentato al convegno IEEE International Conference on Robotics and Automation tenutosi a Roma, Italy nel 10-14 April) [10.1109/ROBOT.2007.364063].
Minimum-time control of flexible joints with input and output constraints
CONSOLINI, Luca;GUARINO LO BIANCO, Corrado;PIAZZI, Aurelio
2007-01-01
Abstract
The paper proposes a linear programming approach to the feedforward 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. Experimental results illustrate the proposed open-loop technique.| File | Dimensione | Formato | |
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