Title :
Exact closed-form optimal solution for constrained trajectory control of single-link flexible-joint manipulators
Author_Institution :
Dept. of Electr. Eng., Houston Univ., TX, USA
Abstract :
A single-link flexible-joint manipulator is considered. An analytic closed-form optimal solution is obtained for the nonlinear constrained optimal trajectory planning problem. The optimal solution turns out to be exact in the sense that no approximation is applied
Keywords :
nonlinear control systems; optimal control; position control; robots; closed-form optimal solution; flexible-joint; manipulators; nonlinear control systems; robots; trajectory control; Acceleration; Actuators; Damping; Gravity; Nonlinear equations; Nonlinear systems; Optimal control; Shafts; Springs; Vectors;
Conference_Titel :
Decision and Control, 1990., Proceedings of the 29th IEEE Conference on
Conference_Location :
Honolulu, HI
DOI :
10.1109/CDC.1990.203522
