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)