Pointwise-Optimal Control of Robotic Manipulators
- 1 June 1988
- journal article
- Published by ASME International in Journal of Dynamic Systems, Measurement, and Control
- Vol. 110 (2) , 210-213
- https://doi.org/10.1115/1.3152673
Abstract
A method is presented for the pointwise-optimal control of robotic manipulators along a desired trajectory. An approximate expression for the manipulator response is used to minimize a quadratic performance index with a linear regulator and tracking criterion, during each sampling period. The delay associated with implementation of the control action is analyzed, and its adverse effects are eliminated by estimation of the joint angles and torques one time step ahead.Keywords
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