A method for optimal trajectory control of robotic manipulators is considered in this paper. In particular, a control scheme is proposed such that, while the manipulator passes two or more prescribed 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 non-linear, it is shown that the control problem can be solved rigorously under such a criterion. The optimal control consists of non-linear compensation terms and other linear feedback terms. The results of computer simulation studies for a two-link manipulator are also included.
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