Exact and Explicit Optimal Solutions for Trajectory Planning and Control of Single-Link Flexible-Joint Manipulators,

In this paper, an optimM trajectory planning problem for a single-link t_exiblejoint manipulator is studied. A global feedback-linearization technique is first applied to formulate the nonlinear inequality-constrained optimization problem in a suitable way. Then, an exact and explicit structural formu/a for the optimal solution of the problem is derived and the solution is shown to be unique. It turns out that the optimal trajectory planning and control can be done off-line, so that the proposed method is applicable to both theoretical analysis and reM-time tele-robotics control engineering.