Title :
Optimal Control of a Robot with Obstacles
Author :
Niv, Moshe ; Auslander, David M.
Author_Institution :
Rafael, P.O.B. 2250, Haifa, Israel
Abstract :
The Maximum principle is used to design an optimal control for a robot based on minimizing the time for a specified motion. With the use of an optimization technique, the optimal control problem is solved numerically using the complete, highly non-linear dynamic model of the manipulator. Robot geometrical and actuator limitations, as well as obstacles inside the work space, are considered in the optimal control solution.
Keywords :
Actuators; Manipulator dynamics; Mechanical sensors; Nonlinear equations; Optimal control; Orbital robotics; Robot control; Robot kinematics; Robot sensing systems; Wrist;
Conference_Titel :
American Control Conference, 1984
Conference_Location :
San Diego, CA, USA
