The Near-minimum-time Control of Articulated Robot Arm

Developmental Apparatus of Articulated Robot Arm with Two Degrees of Freedom

Abstract

Recently many various industrial robots are developed and used to widely diverse operations. Especially the developments and the studies of the articulated robot arm are growing up rapidly, because the articulated robot arm has a wide working area and has many various configurations of its attitude. Considering the motion control of the articulated robot arm, the robot arm can take a different trajectory of its configuration from the nitial configuration to the final configuration for each control scheme of the robot arm. In this study, the minimum time control of the articulated robot arm with two degrees of freedom from the initial configuration to the final configuration is considered. The minimum time optimal control cannot generate a closed loop system, so the disturbance of the system or the misidentification of the parameters of the robot arm directly degrade the performance of the control. In this study, the authors propose the following control of the optimal path that is generated by the minimum time optimal control theory and show the results of following control of the optimal path by driving the developmental apparatus of the articulated robot arm with two degrees of freedom.