The Optimal Trajectory Control Using Deterministic 
Artifi cial Intelligence for Robotic Manipulator

Yichen Guo*

doi:10.70711/itr.v2i3.6838

The Optimal Trajectory Control Using Deterministic Artifi cial Intelligence for Robotic Manipulator

Yichen Guo*

Abstract

The robotic manipulator in space requires high precision to safely operate space tasks. Therefore, the manipulator needs to be
equipped with a strong controller to minimize its error when following a planned trajectory. This manuscript aims to minimize the mean error
of the trajectory in roll pitch yaw directions using robust controllers. In this manuscript, we simulate an optimal trajectory using Pontryagins
method in space dynamics. Then we apply deterministic artificial intelligence and other feedforward controllers combined with their feedback
counterpart in space dynamics. In the result, using the classical feedforward controller as a benchmark, we found that the deterministic artifi -
cial intelligence is, overall, almost five times better than the traditional adaptive feedforward controller. And the runtime of the deterministic
artifi cial intelligence is almost two times faster than the Adaptive Feedforward controller.

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DOI: http://dx.doi.org/10.70711/itr.v2i3.6838

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