Abstract
The control problem of nonlinear industrial robot model (IRM) hes been reduced to optimal control one of equivalent linear IRM with control and state constraints. Using the concept of the external linearization, the nonlinear control law has been derived. Applying this nonlinear control, the linear behaviour of the nonlinear industrial robot model has been obtained. Introducing the combined minimum time and energy performance index, the time and energy optimal control problem of the equivalent robot model, with the two-point boundary-value problem (initial and final state) and input and state constraints, is solved. Using the procedure of the analytical integration of the equivalent industrial robot model, the full accuracy of the desired final state of IRM has been realized. During the manipulation motions, the joint coordinates are constrained in the sense that they are very monotonous. A short survey of state of the art in control synthesis of IRM is presented. Finally, a numerical example is given
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