Exact closed-form optimal solution for constrained trajectory control of single-link flexible-joint manipulators

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)22_Publication in policy or professional journal

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Original languageEnglish
Pages (from-to)2566-2567
Journal / PublicationProceedings of the IEEE Conference on Decision and Control
Publication statusPublished - 1990
Externally publishedYes


TitleProceedings of the 29th IEEE Conference on Decision and Control Part 6 (of 6)
CityHonolulu, HI, USA
Period5 - 7 December 1990


A single-link flexible-joint manipulator is considered. An analytic closed-form optimal solution is obtained for the nonlinear constrained optimal trajectory planning problem. The optimal solution turns out to be exact in the sense that no approximation is applied.