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Abstract: The energy programming approach to the optimal control and
the trajectory planning of the 2R robotic manipulators are discussed,
and the mathematical matrix to solve the optimal control is established.
With considering the coincidence of the manipulators, the linearization
method is adopted to turn the non-linear control system into the linear
one, which can be solved by the traditional approach. The precision of
computation can be improved and the content for optimal control of
robotic manipulators can be deeply discussed, too. Underlying the
methodology, the same problem using differential geometry can be solved
easily.
Key words: Manipulator Manipulating performance Optimal control
Linear method
CLC No: TP24
国家自然科学基金资助项目(59975013). Received 20020830, received in revised form
20021030
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