TY - GEN A1 - Galicki, Mirosław A2 - Tchoń, Krzysztof - ed. A2 - Gosiewski, Anatol - ed. PB - Zielona Góra: Uniwersytet Zielonogórski N2 - Global optimization in the redundancy resolution, involving direct dynamic equations of a manipulator, is presented. It is carried out by using the necessary and sufficient conditions for a minimum of integral-type criteria with a free upper limit of integration. Boundary conditions resulting from the manipulator task to be performed are taken into consideration. General transversality conditions corresponding to the boundary ones are derived. N2 - As a result, a closed system of boundary dependencies, fully specifying differential equations which result from the necessary conditions for a minimum, to find an extremal joint trajectory, is obtained. In order to verify the above extremal trajectory for optimality, (local) sufficient conditions are employed. A computer example involving a planar manipulator of three revolute kinematic pairs is presented. L1 - http://www.zbc.uz.zgora.pl/Content/57682/AMCS_1995_5_2_3.pdf L2 - http://www.zbc.uz.zgora.pl/Content/57682 KW - sterowanie KW - sterowanie-teoria KW - sztuczna inteligencja KW - matematyka stosowana KW - informatyka T1 - Redundancy resolution of manipulator by global optimization UR - http://www.zbc.uz.zgora.pl/dlibra/docmetadata?id=57682 ER -