Optimal Trajectory Planning and Control of 2 DOF Robotic Manipulator


  • Anjana K
  • Sudheer A P
  • Mija S J


Robotic Manipulator, Trajectory Planning, Optimal Controller


Robot manipulators are nonlinear in nature thus requires accurate modeling to present the nonlinear characteristics. This paper proposes kinematic and dynamic model of 2 Degree of Freedom (DOF) robotic manipulator and design of optimal trajectory. Optimal trajectory design is based on the optimization of joint torque. Optimal trajectory design becomes more complicated when considering a complete non linear model. Hence a simplified linearized model is chosen in this work. The design of cubic polynomial trajectory for the comparison of optimal trajectory is also included in this work.


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How to Cite

K, A., P, S. A., & J, M. S. (2015). Optimal Trajectory Planning and Control of 2 DOF Robotic Manipulator. Asian Journal of Engineering and Technology, 3(4). Retrieved from https://ajouronline.com/index.php/AJET/article/view/3048