AAS 97-719
THE CHOICE OF APPROPRIATE COST FUNCTIONALS FOR OPTIMIZING THE OPERATING SPEED OF ROBOTS
J. Li and R.W. Longman - Columbia University, V. Schulz and H.G. Bock - University of Stuttgart, Germany
Abstract
Previous research by the authors starting in 1984 has developed a general understanding of the nature of time optimal maneuvers of various classes of robots. This research as well as research by others used idealized models. This paper takes a substantial step toward realistic application by considering four practical issues: (1) the need to model the motors, with resultant change in the control constraints, (2) the need to implement using existing feedback controllers to obtain wide applicability, (3) the need to compromise in the choice of pure time optimal control, e.g. to acknowledge the importance of wear, and (4) finally, joint flexibility must be handled in a practical way.