Research optimal control for inverse dynamic of three freedom degrees robot

This paper presents a new method of solving an optimal problem for inverse dynamic of three freedom degrees robot under constrained condition of joint variables limited in "parallelepiped". The problem is a non-canonical nonlinear programming, which is the summation of quadratic transcendental functions. The optimal solution, is gained using Matlab Optimization Toolbox, is optimal references for control loop with the assumption of known trajectory. The results of this work can be applied for different robot types of higher freedom degrees in industry.