Optimal control of robotic manipulators in the presence of obstacles.
Yao-Chon ChenMathukumalli VidyasagarPublished in: J. Field Robotics (1990)
Keyphrases
- optimal control
- robotic manipulator
- control scheme
- control strategy
- dynamic programming
- control problems
- feedback control
- class of nonlinear systems
- infinite horizon
- visual servoing
- control law
- degrees of freedom
- optimal control problems
- robotic systems
- control system
- end effector
- reinforcement learning
- neural network
- multiple models
- genetic algorithm
- function approximation