{"title":"The minimax principle of mechanics and its application to the optimal control problem for robot manipulators","authors":"Y. Pyatnitskiy","doi":"10.1109/ICAR.1991.240436","DOIUrl":null,"url":null,"abstract":"The classical mechanics minimax variational principle has been established. This has made it possible to obtain a variational description of the Lagrange equation solutions with various initial and boundary conditions. The motion of a robot manipulator can be described under proper idealization by the Lagrange equations. Making use of this principle, the robot manipulator optimum control problem is reduced to a special constraint extremum problem.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"16 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1996-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICAR.1991.240436","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
The classical mechanics minimax variational principle has been established. This has made it possible to obtain a variational description of the Lagrange equation solutions with various initial and boundary conditions. The motion of a robot manipulator can be described under proper idealization by the Lagrange equations. Making use of this principle, the robot manipulator optimum control problem is reduced to a special constraint extremum problem.<>
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