Evaluation of manipulator dynamics based on optimal controller

Some observations that are useful for evaluation of a manipulator dynamics are presented in this paper. First, by adopting the Pontryagin maximum principle optimal motion profiles were derived. Next, based on the obtained results and description of motion using unnormalized quasi-velocities (UQV) some properties observable during the manipulator motion were considered. The strategy allows one to conclude about the system behavior under an optimal controller. The presented method was tested analytically and by simulation on a 2 d.o.f. planar mechanical system