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 variableI documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.