Design of robotic discrete minimum energy regulator
作者:
Y.Bestaoui,
期刊:
IEE Proceedings D (Control Theory and Applications)
(IET Available online 1991)
卷期:
Volume 138,
issue 6
页码: 509-514
年代: 1991
DOI:10.1049/ip-d.1991.0071
出版商: IEE
数据来源: IET
摘要:
The optimal control of manipulators is a key to the success of automated manufacturing. The problem considered here 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 refer ence trajectories and the design of a proportional derivative regulator. The characteristics of this new method are exposed and the simulation results shown.
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