Optimal Control of Robotic Manipulators by a Software Servo Device

In recent years the advanced micro-electronics techniques are contributing to the progress of industrial robotic manipulators. Direct digital control of manipulators is one of the most promising applications of a new generation of computers. Improved control techniques are required for the digital c...

Full description

Saved in:
Bibliographic Details
Published in:Bulletin of JSME 1986, Vol.29(250), pp.1274-1279
Main Authors: TAKITA, Yoshihiro, SETO, Kazuto, NAKAMIZO, Takayoshi
Format: Article
Language:English
Subjects:
Application of Control
Applied sciences
Dynamic Performance
Exact sciences and technology
Linear Quadratic Optimal Control with Iaction
Material handling, hoisting. Storage. Packaging
Micro-Processor
Robotic Manipulator
Software Servo Controller
Transfert equipment, manipulators
industrial robots
Citations: Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:In recent years the advanced micro-electronics techniques are contributing to the progress of industrial robotic manipulators. Direct digital control of manipulators is one of the most promising applications of a new generation of computers. Improved control techniques are required for the digital control to attain a fine performance of manipulators. This paper proposes a software servo control system for linear quadratic optimal control with I-action (LQI control) for a good performance over a wide range of motions and payloads. The effectiveness of this control system is demonstrated in several simulations and experimental results.
ISSN:0021-3764
1881-1426
DOI:10.1299/jsme1958.29.1274