Optimal control of robotic manipulators in the presence of obstacles

Abstract

Abstract In this article, the optimal control problem for (rigid) robotic manipulators in the presence of obstacles is considered. First, two methods for the modeling of obstacles are considered. Through these methods, closed‐form approximations of obstacles in terms of the generalized coordinates of the manipulator are obtained. These expressions are then used to formulate an optimal control problem with state space constraints. The resulting optimal control problem is then solved numerically.