Solving nonlinear optimization problem using new closed loop method for optimal path tracking

Abstract

The purpose of this paper is to investigate the ability of the manipulator in point-to-point motion and determine its dynamic loading capacity using an optimal control method for controlling the new closed loop. The proposed method for designing an optimal nonlinear controller in a closed loop shape, in contrast to the usual methods based on indirect methods, is a combination of direct and indirect methods. The law of control is based on the solution of the nonlinear Hamilton-Jacobi-Bellman equation (HJB). For complex dynamics, this equation is solved using the Galerkin method and a nonlinear optimization algorithm. Another goal is to determine the dynamic loading capacity using this controller. The simulation results indicate the efficiency of the method in tracking the preset path from the manipulator, as well as determining the load capacity of the dynamic.Industrial robots are now widely used in various fields. So their production is increasing rapidly. Manipulator are a type of industrial robot that attracts the attention of many engineers of control and mechanics. Also, in this article, the 3Rrobot and 6R robot have been investigated.