A trial on automatic synthesis of feedback control rule for a two links manipulator

In this short paper, we report a fundamental trial to determine a bang-bang feedback rule for a two links manipulator by using searching technique with experimental trials and errors. Our trial is done under the following situation. (i) The system equation of the manipulator system is entirely unknown. (ii) The input of the manipulator system (the input voltage of the motors) are restricted to a bang-bang type. (and the smallest width of input pulse is given previously.) The purpose of our trial is to get a feedback rule of time optimal control automatically by using heuristic algorithm.