제한된 입력하에서 로보트 매니플레이터의 Pointwise PD 최적 연속경로 제어방

A Pointwise PD-optimal Control of Robotic Manipulators for Continuous Path with Bounded Inputs

A pointwise PD-optimal control method is proposed for the continuous path control of robot manipulators with bounded inputs. The controller employs the desired acceleration plus PD (proportional and derivative) actions in the Cartesian space. The gain parameters of the controller are adjusted so that the Euclidean norm of the deviation between the actual and desired accelerations is minimized subject to the constraints of bounded input torques and the system guarantees negative feedback. To show the Validities of the proposed mithods, computer simulations are performed for a SCARA type robot.