DocumentCode
3338289
Title
The minimax principle of mechanics and its application to the optimal control problem for robot manipulators
Author
Pyatnitskiy, Ye.S.
Author_Institution
Inst. of Control Sci., Acad. of Sci., Moscow, USSR
fYear
1991
fDate
19-22 June 1991
Firstpage
1437
Abstract
The classical mechanics minimax variational principle has been established. This has made it possible to obtain a variational description of the Lagrange equation solutions with various initial and boundary conditions. The motion of a robot manipulator can be described under proper idealization by the Lagrange equations. Making use of this principle, the robot manipulator optimum control problem is reduced to a special constraint extremum problem.<>
Keywords
initial value problems; minimax techniques; optimal control; robots; variational techniques; Lagrange equation solutions; boundary conditions; initial conditions; manipulator motion; minimax variational principle; optimal control; robot manipulators; Boundary conditions; Equations; Jacobian matrices; Laboratories; Lagrangian functions; Manipulator dynamics; Minimax techniques; Optimal control; Robot control; Torque control;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location
Pisa, Italy
Print_ISBN
0-7803-0078-5
Type
conf
DOI
10.1109/ICAR.1991.240436
Filename
240436
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