Robot position control based on Hamiltonian system

Industrial robot position control is one of its important applications. First the paper discusses finite time position control of n-link robotic manipulator by Pontryagin minimum value principle of optimal control. The Hamiltonian is obtained and the position control problem comes down to solving the two-point boundary-value problem (TBPVB). Then the Hamilton-Jacobi equation and the perturbation techniques are introduced to solve the TBPVB. The Hamiltonian is decomposed into two parts: the major part and the minor part. When the minor part is relatively small compared to the major part the iteration approximating approach can be utilized under the framework of perturbation techniques. Finally two-link robot manipulator illustrates our methods and after a few iterations high position accuracy can be obtained.