Title :
On optimal controllers for elastic joint robots
Author :
Battilotti, S. ; Lanari, L.
Author_Institution :
Dipartimento di Inf. e Sistemistica, Rome Univ., Italy
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;
Conference_Titel :
Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
0-7803-2685-7
DOI :
10.1109/CDC.1995.478545
