Control and Parameter Optimization of the Two-Link Manipulator with both Active and Semi-Passive Actuators

Paper in proceeding, 2003

Optimal control problem of the plane double-link manipulation system with both active and semi-passive (spring-dampher) actuators was considered. The approach based on converting the optimal control problem into the nonlinear conditional minimization problem was proposed. The results obtained using different performance indexes were compared. The effectiveness of the proposed algorithm was illustrated by the solution of the energy-optimal control problem for the double-link manipulator on the cyclic working tasks.