Dynamic modeling and optimal control of stone-carving robotic manipulators

This study introduced the Inverse Linear Quadratic (ILQ) theory into the Stone-Carving Robotic Manipulators (SCRM) control system. First, the dynamic equation and state-space equation of the SCRM system were deduced with the Lagrange method. Then, the ILQ theory was employed to achieve the desired closed-loop poles assignment of the system. To simplify the design process and meet the requirement of practical use, the state feedback optimal control law was determined by an improved ILQ design method. The proposed control scheme had an explicit capacity to achieve the desired joint angle and joint torque control performances, with fewer external disturbances and no sensitivity to changing model parameters. The effectiveness of the proposed control scheme compared to traditional control strategies is shown in the simulation results. Thus, the vibration of the joint torque during the manufacturing process can be greatly reduced.