Szukana fraza: [Abstract = "A method of finding optimal controls for both non\-redundant and redundant manipulators is considered. It is based on a strict convexifying of the original control set with any desired accuracy in the Hausdorff sense. The optimal controls thus obtained are shown to converge \(weakly\) to a bang\-bang solution. Furthermore, this method produces also controls which may be directly used to provide nominal inputs in on\-line manipulator control. A simple numerical example involving a three\-degree\-of\-freedom revolute kinematically redundant manipulator is presented"]

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