Optimisation of controlled motion of closed-loop chain manipulator robots with different degree and type of actuation

A number of energy-optimal control problems for a new structure of closed-loop manipulator robot are considered. We present methodology and algorithm that is suitable for solving optimization problems for manipulator robots with different degree and type of actuation. This methodology is based on polynomial and Fourier series approximation of independently varying functions and conversion of the initial optimal control problem into the constrained parameter optimization problem. The methodology has been successfully used for optimization of under-, fully-, and overactuated robots having both external (powered) drives and internal (unpowered or passive) spring-damper-like drives. Comparison analysis of the simulation results of the obtained energy-optimal control processes for different manipulator robots is presented