DocumentCode
294303
Title
On optimal controllers for elastic joint robots
Author
Battilotti, S. ; Lanari, L.
Author_Institution
Dipartimento di Inf. e Sistemistica, Rome Univ., Italy
Volume
3
fYear
1995
fDate
13-15 Dec 1995
Firstpage
2818
Abstract
This paper presents an extension to elastic joint robots of a well-known result on the quadratic optimization of motion coordination and control obtained for rigid robots. In particular the aim is to minimize, for the set-point case, those applied torques which affect only the kinetic energy, or some linear combination. This problem is also of interest for the disturbance attenuation problem when the control effort is taken into account in the penalty variable
Keywords
flexible structures; manipulators; optimal control; applied torque minimization; disturbance attenuation; elastic joint robots; kinetic energy; motion control; motion coordination; optimal controllers; quadratic optimization; Attenuation; Elasticity; Gravity; Informatics; Kinetic energy; Manipulator dynamics; Motion control; Optimal control; Robot kinematics; Torque;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
Conference_Location
New Orleans, LA
ISSN
0191-2216
Print_ISBN
0-7803-2685-7
Type
conf
DOI
10.1109/CDC.1995.478545
Filename
478545
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