Time-optimal control of two-link manipulators
Time-optimal maneuvers of rigid Two-Link Manipulators (TLM) are analyzed using Pontryagin's Minimum Principle. The problem is formulated using Optimal Control Theory and ideas developed in the Calculus of Variations. The dynamics of rigid TLM are obtained using the Lagrange equations of motion....
| Main Author: | |
|---|---|
| Other Authors: | |
| Format: | Others |
| Language: | en |
| Published: |
University of Saskatchewan
1996
|
| Online Access: | http://library.usask.ca/theses/available/etd-10212004-000530 |