Minimum-Energy Control of Two-Link Manipulator withPure State Constraints

Abstract

This paper presents an analysis and numerical solutions of the minimum-energy control of two-link robot manipulator. The minimum-energy control point-to-point trajectory is investigated subject to control constraints and state constraints on the angular velocities. The numerical solutions are solved by transforming the original problem into a nonlinear programming problem. The mathematical analysis of the optimal control problems is done based on the numerical results using an indirect method. The necessary conditions can be stated as a multi-point boundary value problems.