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Closed-loop control of manipulators with redundant joints using the Hamilton-Jacobi-Bellman equation

By: Luh, J.Y.S.; Gupta, S.;

1991 / IEEE / 0-8186-2163-X

Description

This item was taken from the IEEE Periodical ' Closed-loop control of manipulators with redundant joints using the Hamilton-Jacobi-Bellman equation ' A closed-loop state feedback motion-control scheme has been developed for manipulators with redundant joints. The scheme is based on the well-known Hamilton-Jacobi-Bellman algorithm of optimal control. Self motion of the linkage is utilized for optimizing a quadratic performance criteria over the entire trajectory of the end-effector. A linearized model of the dynamics of the manipulator is used in the control algorithm. The algorithm requires solving the algebraic matrix Riccati equation. Simulation results are presented.<>