J. E. Bobrow. Optimal Control of Robotic Manipulators. Ph.D. Thesis, UCLA, Mechanics and Structures Department, 1982.  Home/Search   Document Not in Database   Summary   Related Articles   Check

....and final velocities also specified. For dimension d = 1, the problem can be easily solved [16] For d 1, this problem is a very difficult one, and it dates back to at least the last century. There has been some considerable previous work done by robotic researchers. For example, Bobrow [1], and later Shin and McKay [28] proved some basic constraints on control paths; for example, at least some joint torque is at maximum (see also [25] Hollerbach gives a dynamic time scaling technique [13] which allowed him to develop discretization methods for systematically exploring the ....

J. E. Bobrow. Optimal Control of Robotic Manipulators. Ph.D. Thesis, UCLA, Mechanics and Structures Department, 1982.

....to a one dimensional optimal control problem which is very well understood; furthermore, very general constraints on actuator torques, joint speeds, etc. can easily be treated. A highly efficient solution algorithm tailored to the minimum time case was first proposed by Bobrow, Dubowsky and Gibson [5, 6], and further developed by Pfeiffer and Johanni [39] in addition Johanni proposes Dynamic Programming to handle other performance criteria, and subjects the path itself to an outer optimization to find optimal trajectories [27] The prescribed path problem is an appropriate formulation for many ....

J. E. Bobrow. Optimal Control of Robotic Manipulators. Ph. D. dissertation, University of California, Los Angeles, 1982.

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J. E. Bobrow. Optimal Control of Robotic Manipulators. Ph.D. Thesis, UCLA, Mechanics and Structures Department, 1982.

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