Optimization in the design and control of robotic manipulators: A survey

S. S. Rao, P. K. Bhatti

Research output: Contribution to journalArticle

3 Scopus citations

Abstract

An industrial robot is a multifunctional and computer-controlled mechanical manipulator exhibiting a complex and highly nonlinear behavior. Even though most current robots have anthropomorphic configurations, they have far inferior manipulating abilities compared to humans. A great deal of research effort is presently being directed toward improving their overall performance by using optimal mechanical structures and control strategies. The optimal control problems typically involve trajectory planning time-optimal control, energy-optimal control, and mixed-optimal control.

Original languageEnglish (US)
Pages (from-to)117-128
Number of pages12
JournalApplied Mechanics Reviews
Volume42
Issue number4
DOIs
StatePublished - Apr 1989
Externally publishedYes

ASJC Scopus subject areas

  • Mechanical Engineering

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