Design of robotic discrete minimum energy regulator

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Design of robotic discrete minimum energy regulator

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© The Institution of Electrical Engineers
Published

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.

Inspec keywords: control system synthesis; robots; two-term control; discrete time systems; optimal control; dynamic programming

Other keywords: PD control; differential dynamic programming; design; joint reference trajectories; discrete minimum energy regulator; proportional derivative regulator; robots; dynamics; manipulators; optimal control; discrete time systems

Subjects: Robotics; Discrete control systems; Optimisation techniques; Control system analysis and synthesis methods; Optimal control

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