제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Robust Optimal Control of Robot Manipulators with a Weighting Matrix Determination Algorithm

  • Kim, Mi-Kyung (School of Electrical Engineering, University of Ulsan) ;
  • Kang, Hee-Jun (School of Electrical Engineering, University of Ulsan)
  • Published : 2003.10.22
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Abstract

A robust optimal control design is proposed in this study for rigid robotic systems under the unknown load and the other uncertainties. The uncertainties are quadratically bounded for some positive definite matrix. Iterative method finding the Q weighting matrix is shown. Computer simulations have been done for a weight-lifting operation of a two-link manipulator and the result of the simulation shows that the proposed algorithm is very effective for a robust control of robotic systems.

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