Near-minimum time control of flexible manipulators with a payload

Abstract

In this paper near-minimum time controllers for coordinating flexible two-link robots carrying an object in a workspace are developed. Bang-bang control theory in conjunction with synchronization of execution time for each joint is used to derive the near-minimum lime controller. The near-minimum time control law is implemented for two distinct cases. One is for a single flexible robot grasping a payload white the other is for a master/slave configuration for the motion of two flexible robots and their load. Simulation results indicate the feasibility of the proposed schemes.