MANIPULATION
A viable suboptimal controller for robotic manipulators
T. Turner, W.A. Gruver
- Year
- 1980
- Citations
- 6
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
Robot manipulatorControl theory (sociology)PolynomialHeuristicController (irrigation)Simple (philosophy)Computer scienceRobotOpen-loop controllerOptimal control
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