Title :
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
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;
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.1991.131623
