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Parametric Approach to Trajectory Tracking Control of Robot Manipulators

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  • Shijie Zhang
  • Yi Ning

Abstract

The mathematic description of the trajectory of robot manipulators with the optimal trajectory tracking problem is formulated as an optimal control problem, and a parametric approach is proposed for the optimal trajectory tracking control problem. The optimal control problem is first solved as an open loop optimal control problem by using a time scaling transform and the control parameterization method. Then, by virtue of the relationship between the optimal open loop control and the optimal closed loop control along the optimal trajectory, a practical method is presented to calculate an approximate optimal feedback gain matrix, without having to solve an optimal control problem involving the complex Riccati-like matrix differential equation coupled with the original system dynamics. Simulation results of 2-link robot manipulator are presented to show the effectiveness of the proposed method.

Suggested Citation

  • Shijie Zhang & Yi Ning, 2013. "Parametric Approach to Trajectory Tracking Control of Robot Manipulators," Journal of Applied Mathematics, Hindawi, vol. 2013, pages 1-6, October.
    • Handle: RePEc:hin:jnljam:958597
    DOI: 10.1155/2013/958597
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