Method for Determining the Objective Function in the Problem of Optimal Control of Robot Manipulator

An industrial robot is a device that controls multiple axes simultaneously. The robot kinematics problem is studied in two main aspects: kinematic synthesis and kinematic analysis. The solution of the inverse kinematics problem is one of the important information to control the robot, in which attention need to paid to the speed of forming the solution and the accuracy of the solution to the inverse dynamic problem. These factors determine control quality as well as real-time control capabilities. In this paper, a method to determine the objective function Q in the optimal control problem of a 3-link planar robot manipulator.