Solution of the problem of optimal control of a manipulator by direct sampling of the variants of motion
Abstract
The paper considers the optimal control of an automatic manipulator with motion redundancy, i.e., a manipulator whose motion to its goal can be accomplished an infinite number of ways, distinguished by the character of change of generalized coordinates as a function of time. The introduction of an auxiliary condition characterizing the quality of motion makes it possible to choose - from the set of possible motions - one motion for which the quality characteristic has an extremal value. This condition may be minimal time expenditure or minimal energy consumption.
- Publication:
-
Dynamics of Controllable Systems
- Pub Date:
- 1979
- Bibcode:
- 1979dycs.book...49B
- Keywords:
-
- Automata Theory;
- Manipulators;
- Optimal Control;
- Body Kinematics;
- Control Theory;
- Time Response;
- Physics (General)