This dissertation explores the modeling and optimal control of serial manipulator robots, addressing the challenges associated with their effective control and performance. By examining geometric, kinematic and dynamic modeling methods, as well as advanced control techniques such as quadratic linear control and dynamic programming, the study demonstrates how these approaches can improve motion accuracy while reducing control effort and energy costs. Through simulations, the results validate the hypothesis that these optimal techniques outperform conventional methods, paving the way for the design of more efficient robotic systems.

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