Abstract

We consider a time-optimal control problem for the motion of a point gripper of a plane two-link manipulator with linear links of equal length, the second link being statically balanced. Domains of attainable configurations are constructed on the plane of generalized manipulator coordinates. These domains permit one to determine which of the two final point configurations corresponding to a given gripper terminal position, together with the manipulator control method, ensures the gripper motion from the initial rest position to a given final rest position in minimum time. It is established by numerical calculations that the optimal choice of the final configuration can significantly improve the response speed.

中文翻译：

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带有终端配置的双连杆机械手中夹爪运动的时间最优控制

摘要

我们考虑具有相等长度的线性链节的平面双链节机械手的点夹持器运动的时间最优控制问题，第二链节是静态平衡的。可获得的配置域在广义操纵器坐标平面上构建。这些域允许确定与给定的抓取器终端位置相对应的两个最终点配置中的哪一个，以及机械手控制方法，确保在最短的时间内使抓取器从初始静止位置运动到给定的最终静止位置。通过数值计算可以确定，最终配置的最佳选择可以显着提高响应速度。