SOLVING NONLINEAR OPTIMIZATION PROBLEM USING NEW CLOSED LOOP METHOD FOR OPTIMAL TRACKING OF A PATH

In this paper the ability of the manipulator to move on a specified path is examined and also the dynamic load canying capacity of the manipulator is determine and forthis a new closed loop optimal control method is used. Usual methods for designing a nonlinear optimal controller in the closed loop form is based on indirect methods butthe proposed method is a combination of direct and indirect methods. Control law is based on the solution of the nonlinear Hamilton-Jacobi—Bellman (HJB) equation thatFor complex dynamics. this equation is numerically solved using the Galerkin method (indirect part) and a nonlinear optimization algorithm using Matlab sofiware (indirectpart). Afterward dynamic load carrying capacity of the manipulator is determine using this controller. The method validation is demonstrated by simulation for a two-link, three—link and six-link manipulator in specified path motion and an experimental test for a three-link robot has been done. Simulation results represent the efficiency ofthe method in the pre—determined path tracking of the manipulator.

Keywords:

Nonlinear optimal controller. HJB , specific path motion , dynamic load carrying capacity