A dynamic programming approach to optimal control of robotic manipulators (Q1269817)
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scientific article; zbMATH DE number 1216526
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| English | A dynamic programming approach to optimal control of robotic manipulators |
scientific article; zbMATH DE number 1216526 |
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A dynamic programming approach to optimal control of robotic manipulators (English)
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26 January 1999
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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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dynamic programming
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optimal trajectory planning problem
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PUMA 560 manipulator
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time optimal control
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velocity constraint
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energy optimal control
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0.8730646371841431
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0.8229628801345825
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0.8128926753997803
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