Abstract
AbstractIn this article, the optimal control problem for (rigid) robotic manipulators in the presence of obstacles is considered. First, two methods for the modeling of obstacles are considered. Through these methods, closed‐form approximations of obstacles in terms of the generalized coordinates of the manipulator are obtained. These expressions are then used to formulate an optimal control problem with state space constraints. The resulting optimal control problem is then solved numerically.
Full Text
Published Version
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call