Suboptimal Synchronous Control for an Industrial Robot.

A special algorithm for a decentralized control concept for the subsystems of robots is described. This concept will be implemented on the lowest control level and takes into account specially the synchronization of the subsystems. According to a selected subsystem (reference-system) it will be possible to define relations between the subsystems in order to synchronize the dynamic behavior of all systems. The reference-system will be governed by an optimal control law with a linear-quadratic performance index. The problem of synchronization may be physically interpreted as the problem of the equivalence of eigenfrequencies and damping properties of all (closed loop) subsystems. Unlike in the reference system, the control of all other systems is in general suboptimal. By means of a global performance index a suboptimal, synchronous control is proposed.