Abstract
A certain number of considerations should be taken into account in the dynamic control of robot manipulators as highly complex non-linear systems. In this article, we provide a detailed presentation of the mechanical and electrical implications of robots equipped with DC motor actuators. This model takes into account all non-linear aspects of the system. Then, we develop computational algorithms for optimal control based on dynamic programming. The robot's trajectory must be predefined, but performance criteria and constraints applying to the system are not limited and we may adapt them freely to the robot and the task being studied. As an example, a manipulator arm with 3 degress of freedom is analyzed.
Similar content being viewed by others
References
Kahn ME, Roth B. The near-minimum-time control of open-loop articulated kinematic chains.Journal of Dynamic Systems, Measurement and Control, September 1971: 164–172
Singh S, Leu MC. Optimal trajectory generation for robotic manipulators using dynamic programming.Journal of Dynamic Systems, Measurement and Control, June 1987, 109: 88–96
Bellan RE, Dreyfuss SE. La Programmation Dynamique et Ses Applications. Paris: Dunod, 1965. 385
Vukobratovic M, Potkonjak V. Dynamics of Manipulation Robots. Scientific Fundamentals of robotics, tome 1. Berlin: Springer-Verlag, coll, 1982. 303
Andre P et al. Constituants Technologiques, Les Robots, tome 4, Paris, Hermés, coll. 1983
Vukobratovic M, Kircanski M. Kinematics and Trajectory Synthesis of Manipulation Robots. Scientific fundamentals of robotics, tome 3. Berlin: Springer-Verlag, coll, 1986. 267
Denardo Eric V. Dynamic Programming (Models and Applications). Englewood Cliffs, Prentice-Hall, 1982. 227
Lauriere JL. Eléments de Programmation Dynamique. Paris: Gauthier-Villars, coll. Programmation, 1979, 137
Paul Richard P. Robot Manipulators: Mathematics, Programming and Control. Cambridge: The MIT Press, 1981. 279
Shin Kang G, McKay Neil D. Selection of near-minimum time geometric paths for robotic manipulators.IEEE Transactions on Automatic Control. June 1986, AC-31 (6): 501–511
Tarn TJ, Bejczy AK, Yun X, Li Z. Effect of motor dynamics on non linear feedback robot arm control.IEEE Transactions on Robotics and Automation, 1991, 7(1): 114–122
Won SC, Lim DJ, Chyung DH. DC motor driven robotic manipulator control. Proceedings of 24th Conference on Decision and Control, Ft. Lauderdale, Dec 1985. 330–333
Author information
Authors and Affiliations
Rights and permissions
About this article
Cite this article
Richard, M.J., Cheng, L. Controlling robot manipulators by dynamic programming. Acta Mech Sinica 11, 20–33 (1995). https://doi.org/10.1007/BF02487181
Received:
Issue Date:
DOI: https://doi.org/10.1007/BF02487181