Motion optimal control of under-actuated redundant robot arm

摘要

The Optimal control of the under actuated redundant robots is studied in the paper.Based on the VSC controller,a passive joints position control algorithm is developed.Moreover,the optimal control method of the system tracking a manipulator end effector trace at the same time is proposed.The collision avoidance optimal motion control is fulfilled by simulating on a three joints planar under actuated robot arm.The simulation results verified at the proposed algorithm is successful.