NASA NTRS · 19820042022
A viable suboptimal controller for robotic manipulators
Abstract
A 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.
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Turner, T. L., Gruver, W. A.. 1980-01-01. A viable suboptimal controller for robotic manipulators. https://ntrs.nasa.gov/citations/19820042022
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