The control of robot manipulators with bounded input

DOI10.1109/TAC.1986.1104314zbMath0595.93031MaRDI QIDQ3727813

Jeffrey M. Kleinwaks, J. S. Thorp, Mark W. Spong

Publication date: 1986

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1109/tac.1986.1104314

zbMATH Keywords

manipulation robots; trajectory tracking problem; pointwise optimal control law

Mathematics Subject Classification ID

90C20: Quadratic programming

93C10: Nonlinear systems in control theory

70Q05: Control of mechanical systems

70B15: Kinematics of mechanisms and robots

93C15: Control/observation systems governed by ordinary differential equations

49K15: Optimality conditions for problems involving ordinary differential equations

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