Optimal control of an holonomic system: Feedforward design and LQR control for a “pick and place” system

The goal of this paper is to optimize the performances of holonomic systems in particular “pick and place” systems: time execution, precision and energy. The command generation is divided into two main functions: The elaboration of a movement law for the system states to control minimizing the time execution via the bang-bang control, which is used as a reference for controls (indirect control using the LQR approach); the definition of a feedforward transforming the movement law into a reference signal for the input of the physical system (direct control).