Pointwise-Optimal Control of Robotic Manipulators

[+] Author and Article Information
S. Tadikonda, H. Baruh

Department of Mechanical and Aerospace Engineering, Rutgers University, New Brunswick, NJ 08903

J. Dyn. Sys., Meas., Control 110(2), 210-213 (Jun 01, 1988) (4 pages) doi:10.1115/1.3152673 History: Received October 29, 1987; Online July 21, 2009


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.

Copyright © 1988 by ASME
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