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A viable suboptimal controller for robotic manipulatorsA 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.
Document ID
19820042022
Acquisition Source
Legacy CDMS
Document Type
Conference Proceedings
Authors
Turner, T. L. (California Institute of Technology, Jet Propulsion Laboratory, Pasadena CA, United States)
Gruver, W. A. (Logistics Technology International, Ltd. Torrance, CA, United States)
Date Acquired
August 10, 2013
Publication Date
January 1, 1980
Subject Category
Cybernetics
Meeting Information
Meeting: Conference on Decision and Control
Location: Albuquerque, NM
Start Date: December 10, 1980
End Date: December 12, 1980
Accession Number
82A25557
Funding Number(s)
CONTRACT_GRANT: NAS7-100
Distribution Limits
Public
Copyright
Other

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