Title :
Design of robotic discrete minimum energy regulator
Author_Institution :
Lab. de Robotique et d´´Inf. Ind., Nantes, France
fDate :
11/1/1991 12:00:00 AM
Abstract :
The optimal control of manipulators is a key to the success of automated manufacturing. The problem considered is an energy minimisation problem with given dynamics and is subject to actuator constraints. A differential dynamic programming algorithm is developed to solve the discrete-time optimal control problem. This method allows calculation of the joint reference trajectories and the design of a proportional derivative regulator. The characteristics of this new method are exposed and the simulation results shown
Keywords :
control system synthesis; discrete time systems; dynamic programming; optimal control; robots; two-term control; PD control; design; differential dynamic programming; discrete minimum energy regulator; discrete time systems; dynamics; joint reference trajectories; manipulators; optimal control; proportional derivative regulator; robots;
Journal_Title :
Control Theory and Applications, IEE Proceedings D
