Controlled motion and nonlinear optimization of directly driven robotic manipulators

This paper offers a new design concept to solve the tracking control problem for nonlinear robotic manipulators. In an attempt to analyze and design fully integrated robotic systems, Lagrangian concepts, electric machine theory, and nonlinear system analysis and control, provide the basic foundations. A fully featured nonlinear model of robotic manipulators with actuators is developed by using the Lagrange equation. This nonlinear model has been used in design. Nonlinear optimization is tackled applying the Hamilton-Jacobi theory minimizing the generalized nonquadratic performance cost. It is shown that a motion control problem (stabilization, tracking, and disturbance rejection) can be solved using the admissibility concept. The explored results are verified for a directly actuated manipulator; in particular, nonlinear control algorithms are designed, transient dynamics are analyzed, and experiments are performed