Title :
Dynamic optimum control of redundant manipulators
Author :
Koivo, A.J. ; Arnautovic, S.H.
Author_Institution :
Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
Abstract :
Necessary conditions for the optimality can provide additional equations to determine the configuration of a redundant arm for a given pose of an end-effector. The optimal control for the motion of redundant manipulators that minimizes an accumulated performance criterion subject to the motion constraints is presented. Necessary conditions for optimality are given. Algorithms for the calculation of a numerical solution to the optimization problem are described. An example for a three-link planar manipulator is presented to illustrate the presentation
Keywords :
optimal control; optimisation; position control; robots; accumulated performance criterion; dynamic control; motion control; necessary conditions; optimal control; optimization; redundant arm; redundant manipulators; three-link planar manipulator; Constraint optimization; Cost function; End effectors; Equations; Jacobian matrices; Kinematics; Manipulator dynamics; Motion control; Optimal control; Redundancy;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.131622
