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Optimal Control of Redundant Robots in Human-Like Fashion

This paper suggests a new optimal control of a redundant robotic system. It is achieved using suitable kinematic and dynamic criteria based on biological principles, i.e. in human-like fashion. Here, a dynamical model of robotic system is given in the form of Langrange`s equations of second kind in covariant form. Several criteria are introduced which are the function of generalized coordinates, velocities, accelerations and control vectors, respectively. Finally, the effectiveness of suggested optimal control in human-like fashion is demonstrated with a robot with four degrees of freedom as the illustrative example.