Design of robotic discrete minimum energy regulator

Abstract

The optimal control of manipulators is a key to the success of automated manufacturing. The problem considered here is an energy minimisation problem with given dynamics and is subject to actuator constraints. A differential dynamic programming algorithm is developed to solve the discrete-time optimal control problem. This method allows calculation of the joint refer ence trajectories and the design of a proportional derivative regulator. The characteristics of this new method are exposed and the simulation results shown.