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Cost function design for global optimal motion control robotics
Gotlih, Karl
Global optimal control algorithms (GOCA) are important for motion control of redundant robot mechanisms. The aim of GOCA is to generate motions of the mechanism for prescribed trajectories according ...to some natural (mechanical) or prescribed (artificial) constraints in the global optimal sense. In this work, a GOCA on the basis of weighted generalised inverse is presented. The main task in the design of proper cost functions is to combine requirements of the task with the possibilities of the mechanism in a mathematical formulation. After that, efficient analytical procedures and numerical algorithms are needed for solving the GOCA.
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