Cartesian Trajectory Tracking for Manipulators Using Optimal Control Theory
A Cartesian trajectory tracking system for manipulators is developed using optimal control theory. By including the Cartesian position in the state vector, transformation of the trajectory from Cartesian space to manipulator joint space is avoided, and the Jacobian matrix need not be inverted. The t...
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| Format: | Article |
| Language: | English |
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Norwegian Society of Automatic Control
1987-07-01
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| Series: | Modeling, Identification and Control |
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| Online Access: | http://www.mic-journal.no/PDF/1987/MIC-1987-3-2.pdf |