Controlling robot manipulators by dynamic programming

Marc J. Richard, Li Cheng

Research output: Journal article publicationJournal articleAcademic researchpeer-review

3 Citations (Scopus)


A certain number of considerations should be taken into account in the dynamic control of robot manipulators as highly complex non-linear systems. In this article, we provide a detailed presentation of the mechanical and electrical implications of robots equipped with DC motor actuators. This model takes into account all non-linear aspects of the system. Then, we develop computational algorithms for optimal control based on dynamic programming. The robot's trajectory must be predefined, but performance criteria and constraints applying to the system are not limited and we may adapt them freely to the robot and the task being studied. As an example, a manipulator arm with 3 degress of freedom is analyzed.
Original languageEnglish
Pages (from-to)20-33
Number of pages14
JournalActa Mechanica Sinica
Issue number1
Publication statusPublished - 1 Feb 1995
Externally publishedYes


  • dynamic modelling method
  • dynamic programming
  • optimal control
  • robot manipulators

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Computational Mechanics


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