DocumentCode
1901153
Title
An optimal control approach to robust control of robot manipulators
Author
Kim, Mi-Kyung ; Kang, Hee-Jun
Author_Institution
Sch. of Electr. Eng., Ulsan Univ., South Korea
Volume
2
fYear
2003
fDate
6-6 July 2003
Firstpage
440
Abstract
An optimal control approach to robust control design is proposed in this study for rigid robotic systems under the unknown load and the other uncertainties. The uncertainties are quadratically bounded for some positive definite matrix. Iterative method to find the matrix is shown. Simulations are made for a weight-lifting operation of a two-link manipulator and the robust control performance of robotic systems by the proposed algorithm is remarkable.
Keywords
iterative methods; manipulator dynamics; optimal control; robust control; iterative method; optimal control; positive definite matrix; quadratically bounded; robot manipulators; robotic systems; robust control; two-link manipulator;
fLanguage
English
Publisher
ieee
Conference_Titel
Science and Technology, 2003. Proceedings KORUS 2003. The 7th Korea-Russia International Symposium on
Conference_Location
Ulsan, South Korea
Print_ISBN
89-7868-617-6
Type
conf
Filename
1222653
Link To Document