Optimal Control of an ISS-Based Robotic Manipulator with Path Constraints

DOI10.1007/3-540-28073-1_4MaRDI QIDQ3618250zbMATH OpenOpenAlexFDO

Authors S. Breun, R. Callies

Publication date 31 March 2009

Published in Progress in Industrial Mathematics at ECMI 2004 (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/3-540-28073-1_4

zbMATH Keywords

differential-algebraic control problemrobotic motion

Mathematics Subject Classification ID

Applications of optimal control and differential games (49N90) Robot dynamics and control of rigid bodies (70E60)

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• Rivalling Optimal Control in Robot-Assisted Surgery
• Multiple constrained rivaling actuators in the optimal control of miniaturized manipulators

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