Title :
Minimum-Energy Feedback Control of Robots
Author_Institution :
Department of Aerospace Engineering and Engineering Mechanics, Iowa State University, Ames, IA 50011
Abstract :
A new optimal nonlinear feedback control law is obtained for the minimum-energy control problem of robots. The result can lead to a better design of robust feedback control when the problem is solved by the nonlinear programming approach. Supporting numerical examples are presented.
Keywords :
Boundary conditions; Feedback control; Manipulator dynamics; Nonlinear equations; Optimal control; Riccati equations; Robot control; Robot programming; Robot sensing systems; Robust control;
Conference_Titel :
American Control Conference, 1992
Conference_Location :
Chicago, IL, USA
Print_ISBN :
0-7803-0210-9
