Optimal control of a robot manipulator using a weighted time-energy cost function
作者： R. Gourdeau , H.M. Schwartz
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摘要: An investigation of optimal control and path planning for a robot manipulator is conducted. A cost function which weights both the energy consumption time to go from one specified point another used. nonlinear shooting algorithm used solve minimization problem. The weighting on set so that joint actuators do not switch positive negative saturation high-frequency unmodeled dynamics are excited. Simulations two-degree-of-freedom arm demonstrate method. >
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