Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 1987.11a
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- Pages.421-424
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- 1987
Optimal trajectory control of robotic manipulators
로보틱 메니플레이터의 최적 경로 제어
- Park, Hyun-Woo (Kyung Hee University) ;
- Bae, Jun-Kyung (Kyung Hee University) ;
- Park, Chong-Kuk (Kyung Hee University)
- Published : 1987.11.20
Abstract
Recently, the problem associated with the achievement of desired trajectories for non-linear robotic manipulatory systems are researched. The control system which is designed for this robot manipulator, poses a number of severe problem. The methods proposed to deal with the problem fall loosely into three main classes : "direct" "adaptive", "anthropomorphic". Besides there is an approach which is described based upon the application of optimal control theory. In this paper, using the optimal theory, we choose error-coordinate, between the desired trajectories and the practical as the state values, and determine the control law U which minimize a corresponding performance criterion. Let's consider the robotic arm proposed by Freund and set up the deviations of it's trajectory as a measure of performance. To find the optimal control law
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