Optimal control approximations for trainable manipulators
- 1 December 1977
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
Abstract
A theoretical procedure is developed for testing the quality of the approximation from the optimal solution of a nonlinear optimal control problem. It is based on the monotonicity between the changes of the Hamiltonian and the value functions proposed by Rekasius, and may provide a procedure for selecting effective controls for non-linear systems. The approach has been applied to the approximately optimal control of a trainable manipulator with seven degrees of freedom, where the controller is used for motion coordination and optimal execution of object-handling tasks.Keywords
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