Biologically inspired optimal control of robotic system:synergy approach

This paper suggests a new optimal control of robotic system based on a biologically inspired control principle-synergy, which allows resolving actuator redundancy. The redundancy control problem has been discussed in the framework of optimal control problem which is solved by Pontryagin´s maximum principle. Joint actuator synergy approach is suggested which is established by optimization law at coordination level, where is introduced a central control as suggested Bernstein in [1]. In that way, one may obtain a specific constraint(s) on the control variables. Finally, the effectiveness of suggested biologically inspired optimal control is demonstrated with a suitable robot with three degrees of freedom and four control variables as the illustrative example.