• DocumentCode
    3032631
  • Title

    A viable suboptimal controller for robotic manipulators

  • Author

    Turner, T.L. ; Gruver, William A.

  • Author_Institution
    Jet Propulsion Laboratory, Pasadena, CA
  • fYear
    1980
  • fDate
    10-12 Dec. 1980
  • Firstpage
    83
  • Lastpage
    87
  • Abstract
    A simple algebraic solution is obtained to an optimal control problem in joint space for a general robotic manipulator. Open loop and closed loop control laws are obtained. The resulting control algorithm is similar in form to a commonly used heuristic controller using cubic polynomial trajectories.
  • Keywords
    Control systems; Feedback loop; Laboratories; Logistics; Manipulators; Open loop systems; Optimal control; Polynomials; Propulsion; Robot control;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control including the Symposium on Adaptive Processes, 1980 19th IEEE Conference on
  • Conference_Location
    Albuquerque, NM, USA
  • Type

    conf

  • DOI
    10.1109/CDC.1980.272024
  • Filename
    4046622
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3032631