Title :
A viable suboptimal controller for robotic manipulators
Author :
Turner, T.L. ; Gruver, William A.
Author_Institution :
Jet Propulsion Laboratory, Pasadena, CA
Abstract :
A simple algebraic solution is obtained to an optimal control problem in joint space for a general robotic manipulator. Open loop and closed loop control laws are obtained. The resulting control algorithm is similar in form to a commonly used heuristic controller using cubic polynomial trajectories.
Keywords :
Control systems; Feedback loop; Laboratories; Logistics; Manipulators; Open loop systems; Optimal control; Polynomials; Propulsion; Robot control;
Conference_Titel :
Decision and Control including the Symposium on Adaptive Processes, 1980 19th IEEE Conference on
Conference_Location :
Albuquerque, NM, USA
DOI :
10.1109/CDC.1980.272024
