A dynamic programming approach to optimal control of robotic manipulators

DOI10.1016/S0093-6413(98)00029-9MaRDI QIDQ1269817zbMATH OpenFDO

Authors Tuna Balkan

Publication date 26 January 1999

Published in Mechanics Research Communications (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/S0093-6413(98)00029-9

zbMATH Keywords

dynamic programmingenergy optimal controloptimal trajectory planning problemPUMA 560 manipulatortime optimal controlvelocity constraint

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85)

Review text

The author derives an optimal control algorithm by using dynamic programming. It is assumed that the desired path is prescribed, and the optimal control problem is treated as an optimal trajectory planning problem. This algorithm is applied to the optimal control of the PUMA 560 manipulator. Three cases are considered: time optimal control; time optimal control with an effective velocity constraint; time and energy optimal control. Numerical results are given and analyzed.

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