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Dynamic optimum control of redundant manipulators

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2 Author(s)
Koivo, A.J. ; Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA ; Arnautovic, S.H.

Necessary conditions for the optimality can provide additional equations to determine the configuration of a redundant arm for a given pose of an end-effector. The optimal control for the motion of redundant manipulators that minimizes an accumulated performance criterion subject to the motion constraints is presented. Necessary conditions for optimality are given. Algorithms for the calculation of a numerical solution to the optimization problem are described. An example for a three-link planar manipulator is presented to illustrate the presentation

Published in:

Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on

Date of Conference:

9-11 Apr 1991