Acertainnumberofconsiderationsshouldbetakenintoaccountinthedynamiccontrolofrobotmanipulatorsashighlycomplexnon-linearsystems.Inthisarticle,weprovideadetailedpresentationofthemechanicalandelectricalimpli-cationsofrobotsequippedwithDCmotoractuators.Thismodeltakesintoaccountallnon-linearaspectsofthesystem.Then,wedevelopcomputationalalgorithmsforoptimalcontrolbasedondynamicprogramming.Therobot’strajectorymustbepredefined,butperformancecriteriaandconstraintsapplyingtothesystemarenotlimitedandwemayadaptthemfreelytotherobotandthetaskbeingstudied.Asanexample,amanipulatorarmwith3degreesoffreedomisanalyzed.
