mohsen irani - Assistant Professor, Department of Solid Mechanic, Faculty of Mechanical Engineering University of Kashan,Kashan, Iran;
farzane barat - M.Sc. Student, Department of Solid Mechanic, Faculty ofMeebam cal Engineering, University of Kashan, Kashan,Iran;

In this paper the ability of the manipulator to move on a specified path is examined and also the dynamic load canying capacity of the manipulator is determine and forthis a new closed loop optimal control method is used. Usual methods for designing a nonlinear optimal controller in the closed loop form is based on indirect methods butthe proposed method is a combination of direct and indirect methods. Control law is based on the solution of the nonlinear Hamilton-Jacobi—Bellman (HJB) equation thatFor complex dynamics. this equation is numerically solved using the Galerkin method (indirect part) and a nonlinear optimization algorithm using Matlab sofiware (indirectpart). Afterward dynamic load carrying capacity of the manipulator is determine using this controller. The method validation is demonstrated by simulation for a two-link, three—link and six-link manipulator in specified path motion and an experimental test for a three-link robot has been done. Simulation results represent the efficiency ofthe method in the pre—determined path tracking of the manipulator.

Nonlinear optimal controller. HJB, specific path motion, dynamic load carrying capacity