CONDICIONES NECESARIAS PARA LA APLICACIóN DEL MéTODO DEL DISPARO A UN CONTROL óPTIMO DE POSICIóN EN UN ROBOT MANIPULADOR

the optimal control of position in the space of coordinates of joint in a manipulating robot, is related to the determination of a law of control that it restricts to the final effector of the manipulator to move throughout a given trajectory, in a as short time as it is possible. its potential of application is particularly important in the generation of manipulating optimal trajectories of position in robots. this work proposes an alternative methodology of design, based in the maximum principle of pontryagin and the recursion conditions necessary to use the shooting method in a certain trajectory. this methodology is simulated in a manipulating robot of two degrees of freedom type planar.