Details

Autor(en) / Beteiligte

• Khoa, Do Dang
• Kien, Tran Si
• Phong, Phan Dang
• Sanh, Do
• Hoang, Nguyen Quang
• Khang, Nguyen Van
• Ceccarelli, Marco

Titel

Optimal Control of a 3-DOF Robot Manipulator Subject to a Prescribed Trajectory

Ist Teil von

• Advances in Asian Mechanism and Machine Science, p.463-471

Ort / Verlag

Cham: Springer International Publishing

Quelle

Alma/SFX Local Collection

Beschreibungen/Notizen

• This paper presents a method to solve an optimal control problem of a 3-DOF manipulator whose end effector is required to move along a straight line while minimizing the control variables. This issue belongs to an optimal control problem of constrained mechanical systems. The proposed solution includes the following steps. First, the principle of compatibility and the method of transformation matrix is used to derive the equations of motion of the constrained mechanical system in the form of ordinary differential equations (ODEs). Then, the Pontryagin’s maximum principle is applied to determine the optimal control to minimize the control forces. The obtained equations establish a two-point boundary value problem which is solved by Maple software.