Controlling robot manipulators by dynamic-programming

A certain number of considerations should be taken into account in the dynamic control of robot manipulators as highly complex non-linear systems. In this article, the authors provide a detailed presentation of the mechanical and electrical implications of robots equipped with DC motor actuators. This model takes into account all non-linear aspects of the system. Then, the authors develop computational algorithms for optimal control based on dynamic programming. The robot’s trajectory must be predefined, but performance criteria and constraints applying to the system are not Limited and the authors may adapt them freely to the robot and the task being studied. As an example, a manipulator arm with 3 degrees of freedom is analyzed.