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

2006 ◽  
pp. 44-48
Author(s):  
S. Breun ◽  
R. Callies
Keyword(s):  
Optimal Control ◽  
Robotic Manipulator ◽  
Path Constraints

Time-Energy Optimal Control of Articulated Systems With Geometric Path Constraints

1996 ◽  
Vol 118 (1) ◽  
pp. 139-143 ◽  
Author(s):  
Zvi Shiller
Keyword(s):  
Optimal Control ◽  
Optimal Trajectory ◽  
Direct Drive ◽  
Initial Value ◽  
Tracking Errors ◽  
Path Constraints ◽  
Dimensional State Space ◽  
Time Optimal ◽  
Articulated Systems ◽  
The Pontryagin Maximum Principle

The motions of articulated systems along specified paths are optimized to minimize a time-energy cost function. The optimization problem is formulated is a reduced two-dimensional state space and solved using the Pontryagin maximum principle. The optimal control is shown to be smooth, as opposed to the typically discontinuous time optimal control. The numerical solution is obtained with a gradient search that iterates over the initial value of one co-state. Optimal trajectories are demonstrated numerically for a two-link planar manipulator and experimentally for the UCLA Direct Drive Arm. The smoother time-energy optimal trajectory is shown to result in smaller tracking errors than the time optimal trajectory.

OPTIMAL CONTROL OF ROBOTIC MANIPULATOR FOR LASER CUTTING APPLICATIONS

2002 ◽  
Vol 35 (1) ◽  
pp. 367-372
Author(s):  
A. Pashkevich ◽  
A. Dolgui ◽  
O. Chumakov
Keyword(s):  
Optimal Control ◽  
Laser Cutting ◽  
Robotic Manipulator
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