This paper presents an extension to elastic joint robots of a well-known result on the quadratic optimization of motion coordination and control obtained for rigid robots. In particular the aim is to minimize, for the set-point case, those applied torques which affect only the kinetic energy, or some linear combination. This problem is also of interest for the disturbance attenuation problem when the control effort is taken into account in the penalty variable

On optimal controllers for elastic joint robots / Battilotti, Stefano; Lanari, Leonardo. - STAMPA. - 3:(1995), pp. 2818-2822. (Intervento presentato al convegno 34th Conference on Decision & Control tenutosi a NEW ORLEANS, LA (USA)) [10.1109/CDC.1995.478545].

On optimal controllers for elastic joint robots

BATTILOTTI, Stefano
;
LANARI, Leonardo
1995

Abstract

This paper presents an extension to elastic joint robots of a well-known result on the quadratic optimization of motion coordination and control obtained for rigid robots. In particular the aim is to minimize, for the set-point case, those applied torques which affect only the kinetic energy, or some linear combination. This problem is also of interest for the disturbance attenuation problem when the control effort is taken into account in the penalty variable
1995
34th Conference on Decision & Control
elastic joint robots, optimization, set-point
04 Pubblicazione in atti di convegno::04b Atto di convegno in volume
On optimal controllers for elastic joint robots / Battilotti, Stefano; Lanari, Leonardo. - STAMPA. - 3:(1995), pp. 2818-2822. (Intervento presentato al convegno 34th Conference on Decision & Control tenutosi a NEW ORLEANS, LA (USA)) [10.1109/CDC.1995.478545].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11573/442660
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