To solve the difficulties of numerical integral that exist in global optimization of redundant manipulators, this paper discusses how to build up dynamic equation, the inner relation between constraints and unconstraint optimum control problems, then a numerical method solving optimum control problem is deeply analyzed. A direct iteration method in solving normal equations by means of bidirectional asynchronous integral has been successfully exploited, so that it can efficiently overcome the difficulty in solving two-point boundary value problems resulting from inverse stability between state equation and co-state equation.
['Weihai Chen', 'Zhen Wu', 'Qixian Zhang', 'Jian Li', 'Luya Li']
A Direct Iteration Method for Global Dynamic Control of Redundant Manipulators