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Trajectory generation for manipulators using linear quadratic optimal tracking

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2 Author(s)
O. Egeland ; Div. of Eng. Cybern., Norwegian Inst. of Technol., Trondheim, Norway ; E. Lunde

The reference trajectory is normally known in advance in manipulator control, which makes it possible to apply linear quadratic optimal tracking. This gives a control system which rounds corners and generates optimal feedforward. The method may be used for references consisting of straight-line segments as an alternative to the two-step method of using splines to smooth the reference and then applying feedforward. in addition, the method can be used for more complex trajectories. The actual dynamics of the manipulator are taken into account, and this results in smooth and accurate tracking. The method has been applied in combination with the computed torque technique and excellent performance was demonstrated in a simulation study. The method has also been applied experimentally to an industrial spray-painting robot where a saw-tooth reference was tracked. The corner was rounded well, and the steady-state tracking error was eliminated by the optimal feedforward

Published in:

Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on

Date of Conference:

24-29 Apr 1988