{'fraction_non_alphanumeric': 0.021711366538952746, 'fraction_numerical': 0.0038314176245210726, 'mean_word_length': 5.173228346456693, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
Minimum-time position control of multi-axes mechanical systems: a fast computation method using time-varying optimal regulator theory

Many of automatic machines in manufacturing systems are multi-axes mechanical systems, in which each axis is controlled to synchronize with other axes to achieve the given tasks. This paper considers such synchronizing control of multi-axes mechanical systems, and deals with a method to minimize the cycle time needed for the given task. The problem is formulated as a nonlinear constrained optimization problem and a fast computation method is proposed for the minimum-time solution using time-varying optimal regulator theory. By the proposed method, the computation time is reduced to about 1/10 of those spent by general gradient-type methods.