Minimum-Time Control of a Manipulator with Two-Degrees of Freedom

Abstract

Accurate switching times of manipulated vartables for a bang-bang control of a manipulator with two-degrees of freedom are easily calculated by approximating the velocity of a DC servomotor. Such bang-bang control is compared with a near-minimum-time control whose number of switching times of manipulated variables is two and the dynamic characteristics of the manipulator controlled by those methods are analyzed theoretically and also investigated experimentally.