Global optimal control of redundant robot

摘要

SUMMARY A global optimal control algorithm was developed with the aim of finding a control which satisfies some special requirements in the sense of obtaining singular position free movement of the redundant robot mechanism. The solution of the developed global optimal control algorithm is a boundary value problem. The additional constraints in the boundary value problem were constructed with the use of an optimization process. The usefulness of the developed global optimal control algorithm is demonstrated by the example of the 3 DOFs planar redundant robot mechanism of SCARA type.