Скачать или смотреть 4-DOF Optimal Control Simulation of DIY Robotic Arm

This project demonstrates the design and optimal control of a 4-DOF robotic manipulator using advanced nonlinear methods. The dynamics are derived with the Euler–Lagrange equations, ensuring physical consistency across inertial, gravitational, and damping effects.

To generate efficient trajectories, we apply Pontryagin’s Maximum Principle (PMP), producing closed-form solutions for minimum-energy rest-to-rest motion. The finite horizon is not assumed in advance but instead emerges naturally through a gradient descent (G.D.) optimization loop, which refines control effort while driving the manipulator to its target.

The result is a seamless blend of analytic PMP solutions and numerical E.L. dynamics, validated through simulation of the manipulator’s end-effector motion under optimal control.