- Garg, Devendra P. and Yang, Jun, Optimal control of manipulator arms,
Modeling and Simulation, Proceedings of the Annual Pittsburgh Conference, vol. 21 no. pt 5
pp. 2087 - 2091 .
(last updated on 2007/04/10)
This paper deals with the development and implementation of an optimal control scheme for a manipulator subjected to actuator and geometric constraints. The algorithm presented in the paper is towards moving the manipulator end-effector along a specified path in minimum time without significant deviations from the prescribed trajectory. The proposed algorithm is applied to the optimal control of a PUMA 560 manipulator. The results, including a phase plane plot, joint accelerations, and actuator control currents for a spatial trajectory are discussed and illustrated.
Control Systems, Optimal--Applications;Computer Simulation;Computer Programming--Algorithms;