The Energy Optimal Control Theory of Flexible Robotic Arms Based on the Variational Principle

DOI: https://doi.org/10.62517/jike.202504410

Author(s)

Guanyu Wang

Affiliation(s)

Guangzhou Ulink International School, Guangzhou, China *Corresponding Author

Abstract

As an important research direction in the fields of robotics and space engineering, the energy optimization control of flexible robotic arms is directly related to the system efficiency and task reliability. The variational principle provides a theoretical framework for the optimal energy control of flexible robotic arms by transforming dynamic problems into functional extremum problems. Starting from the mathematical essence of the variational principle and combining with the dynamic characteristics of flexible robotic arms, this paper systematically expounds the energy optimal control theory based on the variational principle, analyzes its application value in scenarios such as parameter uncertainty, nonlinear vibration suppression, and multimodal coupling, and explores its integration trend with intelligent control methods, providing theoretical support for the engineering practice of flexible robotic arms.

Keywords

Variational Principle; Flexible Robotic Arm; Optimal Energy Control; Dynamic Characteristics; Multimodal Coupling

References

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