Optimal trajectory planning of robotic manipulators via quasi-linearization and state parameterization

V. Yen, M. Nagurka

Research output: Contribution to conferencePaperpeer-review

2 Scopus citations

Abstract

A numerical algorithm has been developed to solve the problem of optimal control of robotic manipulators. A quasi-linearization method is used to convert a nonlinear optimal control problem into a sequence of LQ (linear quadratic) problems, which are solved by an efficient Fourier-based state parameterization approach. The update laws for the nominal trajectory ensure satisfaction of the terminal conditions. In contrast to dynamic-programming-based methods, the proposed approach does not demand extensive computer storage requirements and thus is capable of achieving optimality without limiting the degrees of freedom of the trajectory. Compared to nonlinear-programming-based methods, the approach offers significant advantages in computational efficiency. Compared to calculus-of-variations-based methods, the approach eliminates the requirement of solving a two-point boundary-value problem and therefore is more robust and efficient.

Original languageEnglish
Pages1116-1121
Number of pages6
StatePublished - 1 Dec 1989
Externally publishedYes
EventIEEE International Conference on Robotics and Automation - 1989 - Scottsdale, AZ, USA
Duration: 14 May 198919 May 1989

Conference

ConferenceIEEE International Conference on Robotics and Automation - 1989
CityScottsdale, AZ, USA
Period14/05/8919/05/89

ASJC Scopus subject areas

  • Engineering (all)

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