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Closed-loop control of manipulators with redundant joints using the Hamilton-Jacobi-Bellman equation

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2 Author(s)
Gupta, S. ; Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA ; Luh, J.Y.S.

A closed-loop state feedback motion-control scheme has been developed for manipulators with redundant joints. The scheme is based on the well-known Hamilton-Jacobi-Bellman algorithm of optimal control. Self motion of the linkage is utilized for optimizing a quadratic performance criteria over the entire trajectory of the end-effector. A linearized model of the dynamics of the manipulator is used in the control algorithm. The algorithm requires solving the algebraic matrix Riccati equation. Simulation results are presented

Published in:

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

Date of Conference:

9-11 Apr 1991