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An explicit solution for the robot arm controller, optimal in the linear quadratic sense, is obtained. Based on this formulation, a PID controller with acceleration feedback is proposed which is computationally efficient and robust relative to variations in the dynamic model and external disturbances.
Published in:
Robotics and Automation, IEEE Journal of
(Volume:1
,
Issue:
3
)
Date of Publication: Sep 1985
- Page(s):
- 152 - 159
- ISSN :
- 0882-4967
- Digital Object Identifier :
- 10.1109/JRA.1985.1087018
- Product Type:
- Journals & Magazines
- Date of Current Version :
- 06 January 2003
- Issue Date :
- Sep 1985
- Sponsored by :
- IEEE Robotics and Automation Society
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