APPLICATION OF OPTIMAL-CONTROL THEORY TO FLEXIBLE ROBOTIC MANIPULATORS

被引：4
|
作者：
LEE, JD
机构：
[1] School of Engineering and Applied Science, The George Washington University, Washington
来源：
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING | 1990年 / 7卷 / 3-4期
关键词：
D O I：
10.1016/0736-5845(90)90019-5
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
The dynamic equations of a single link flexible robotic manipulator and the measurements are formulated. The observer and the control law are derived based on optimal control theory. The numerical results of several cases obtained through computer simulation are presented here. The issues of nonlinearity and sampling rate, and the effects of gravity, white noises, and damping are investigated. The feasibility of real-time control of flexible robotic manipulators is discussed.
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页码：327 / 335
页数：9
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