The minimax principle of mechanics and its application to the optimal control problem for robot manipulators

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.<>