Title :
Decentralized near-optimum control of a robot manipulator
Author_Institution :
Dept. of Electr. Eng., Dongguk Univ., Seoul, South Korea
Abstract :
A novel decentralized near optimum control approach for a highly nonlinear industrial robot manipulator is developed. In this scheme, each joint is controlled independently based on the parameter sensitivity method. In addition, the method uses Pontryagin´s maximum principle and the riccati formulation of the linear regulator problem. The principle and special features of the near optimum control scheme are discussed. The proposed control is applied to the joint control of a two link robot manipulator, and the effectiveness is verified by simulation results
Keywords :
decentralised control; industrial robots; maximum principle; sensitivity analysis; Pontryagin´s maximum principle; decentralized near optimum control; joint control; linear regulator problem; nonlinear industrial robot manipulator; parameter sensitivity method; riccati formulation; robot manipulator; Centralized control; Distributed control; Industrial control; Manipulators; Optimal control; Orbital robotics; Riccati equations; Robot control; Robot sensing systems; Service robots;
Conference_Titel :
Industrial Electronics, 1992., Proceedings of the IEEE International Symposium on
Conference_Location :
Xian
Print_ISBN :
0-7803-0042-4
DOI :
10.1109/ISIE.1992.279560
