Optimal kinematic control of a robotic excavator with laser TVS feedback

Abstract

The problem of optimal kinematic control of an excavator manipulator motion for a given trajectory is considered. The minimizing of the quadratic functional of the angles associated with the respective weights as the optimality criterion is adopted. The efficiency of proposed method is confirmed by numerical example. Offered laser Technical Vision System (TVS) completes the designed controller with necessary tool for effective feedback about manipulator coincidence with desired trajectory.