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

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.