This Article Full Text (PDF) References Alert me when this article is cited Alert me if a correction is posted Services Email this article to a friend Similar articles in this journal Alert me to new issues of the journal Add to Saved Citations Download to citation manager Request Permissions Request Reprints Add to My Marked Citations Citing Articles Citing Articles via HighWire Citing Articles via Google Scholar Citing Articles via Scopus Google Scholar Articles by Nakamura, Y. Articles by Hanafusa, H. Search for Related Content Social Bookmarking                         What's this?

Optimal Redundancy Control of Robot Manipulators

Automation Research Laboratory Kyoto University Uji, Kyoto 611 Japan

Hideo Hanafusa

Department of Mechanical Engineering Faculty of Science and Engineering Ritsumeikan University Kitaku, Kyoto 603 Japan

This paper discusses the optimal redundancy control problem of robot manipulators. The redundancy control problem has mostly been discussed in the framework of instantaneously optimal control. In this paper, the globally optimal redun dancy control problem is solved strictly by using Pontryagin's maximum principle. According to the proposed method, the optimal trajectory is necessarily obtained if it evists. If only kinematics is considered, the optimal problem is reduced to minimal value searching in a space of as many dimensions as the degrees of redundancy. If dynamics is also taken into consideration, the optimal problem is reduced to minimum value searching in a space of twice as many dimensions as the degrees of redundancy.

The International Journal of Robotics Research, Vol. 6, No. 1, 32-42 (1987)
DOI: 10.1177/027836498700600103


CiteULike    Complore    Connotea    Del.icio.us    Digg    Reddit    Technorati    Twitter    What's this?

This article has been cited by other articles:

				J. Nakanishi, R. Cory, M. Mistry, J. Peters, and S. Schaal Operational Space Control: A Theoretical and Empirical Comparison The International Journal of Robotics Research, June 1, 2008; 27(6): 737 - 757. [Abstract] [PDF]

				P. Tsou and M. -H. H. Shen Design of a Fuzzy Controller for Adaptive Truss Structures Journal of Intelligent Material Systems and Structures, March 1, 1995; 6(2): 283 - 291. [Abstract]

				K. Yokoi, K. Komoriya, and K. Tanie A Method for Solving Inverse Kinematics of Variable Structure Truss Arm with High Redundancy Journal of Intelligent Material Systems and Structures, October 1, 1992; 3(4): 631 - 645. [Abstract]