Optimal Trajectory Planning and Control of 2 DOF Robotic Manipulator
Keywords:
Robotic Manipulator, Trajectory Planning, Optimal ControllerAbstract
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.References
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