Robot Dynamics and Control
Numerical Methods Using MATLAB
Numerical Methods Using MATLAB
Nonlinear and Optimal Control Systems
Nonlinear and Optimal Control Systems
Fundamentals of Robotic Mechanical Systems
Fundamentals of Robotic Mechanical Systems
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The optimal position control for a robotic manipulator in the coordinate space, is related with the determination of a control law which restricts the movement of the end-effector through of a specific trajectory on a time as short as possible. Its principal application is in finding the optimal trajectories of position in robotic manipulators. This article propose an alternative design method based on Pontryagin maximum principle and the development of the necessary conditions for the employ of the shooting method on a specific trajectory. This method is simulated in a 2-DOF planar robotic manipulator.