Smooth Trajectory Control of Robotic Manipulators Based on Minimum Acceleration Criterion

A method for optimal trajectry control of robotic manipulators is considered in this paper. In particular, a control scheme is proposed such that, while the manipulator passes prescribed two or more points, the resulting trajectory of motion is smooth. Such a problem is formulated by employing a criterion of minimum-mean-square acceleration during the entire period of motion. Although the motion of robot manipulators is governed by a system of second order differential equations which are highly nonlinear, it is shown that the control problem can be solved rigorously under such a criterion. The optimal control consists of nonlinear compensation terms and other linear feedback terms. The results of computer simulation studies for a 2-link manipulator are also included.