Closed-loop control of manipulators with redundant joints using the Hamilton-Jacobi-Bellman equation

Author

Gupta, Sunil ; Luh, J.Y.S.

Author_Institution

Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA

fYear

1991

fDate

9-11 Apr 1991

Firstpage

472

Abstract

A closed-loop state feedback motion-control scheme has been developed for manipulators with redundant joints. The scheme is based on the well-known Hamilton-Jacobi-Bellman algorithm of optimal control. Self motion of the linkage is utilized for optimizing a quadratic performance criteria over the entire trajectory of the end-effector. A linearized model of the dynamics of the manipulator is used in the control algorithm. The algorithm requires solving the algebraic matrix Riccati equation. Simulation results are presented

Keywords

closed loop systems; dynamics; feedback; linearisation techniques; matrix algebra; optimal control; optimisation; position control; robots; Hamilton-Jacobi-Bellman equation; algebraic matrix Riccati equation; closed-loop state feedback; dynamics; end-effector; linearized model; manipulators; motion-control; optimal control; quadratic performance criteria; redundant joints; robots; Acceleration; Boundary value problems; Energy resolution; Equations; Error correction; Kinematics; Kinetic energy; Manipulator dynamics; Redundancy; Torque control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on

Conference_Location

Sacramento, CA

Print_ISBN

0-8186-2163-X

Type

conf

DOI

10.1109/ROBOT.1991.131623

Filename

131623