Optimal control of robot manipulators with a new two-level gradient-based approach

Abstract

In this paper, a new approach for optimal control of robot manipulators is presented. For this purpose, the system is considered as a two-level large-scale system where a gradient-based coordination strategy is used to coordinate the overall system. This is achieved within a decomposition–coordination framework, where the robot manipulator is first decomposed into several sub-systems at the first level, and then, the coordination is done at the second level. The solution is based on Interaction Prediction Principle, where in the first level, the optimization is done by a gradient method and in the second level, the coordination is done by a new method based on the gradient of interaction errors. This approach provides a new scheme for hierarchical control of robot manipulators with high degree of freedom.The results fairly illustrate the effectiveness of the proposed coordination strategy.