Near-minimum-time control of a robot manipulator
This thesis deals with the problem of minimum time control of a rigid robot manipulator with point-to-point motion subject to constraints on the control inputs. Due to the nonlinear and coupled dynamics of the robot manipulator, finding minimum time strategies is algorithmically difficult and com...
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| Language: | English |
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2009
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| Online Access: | http://hdl.handle.net/2429/14293 |