@misc{Galicki_Mirosław_Time-optimal,
 author={Galicki, Mirosław and Pająk, Grzegorz and Pająk, Iwona},
 howpublished={online},
 publisher={Zielona Góra: Uniwersytet Zielonogórski},
 language={eng},
 abstract={A method of finding optimal controls for both non-redundant and redundant manipulators is considered. It is based on a strict convexifying of the original control set with any desired accuracy in the Hausdorff sense. The optimal controls thus obtained are shown to converge (weakly) to a bang-bang solution. Furthermore, this method produces also controls which may be directly used to provide nominal inputs in on-line manipulator control. A simple numerical example involving a three-degree-of-freedom revolute kinematically redundant manipulator is presented},
 type={artykuł},
 title={Time-optimal control of redundant manipulators},
 keywords={sterowanie, sterowanie-teoria, sztuczna inteligencja, matematyka stosowana, informatyka},
}