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
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;
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
