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OPTIMAL CONTROL OF ROBOT MANIPULATORS WITH DYNAMIC COMPENSATION
Author(s): 
Pages: 75-83
Year: Issue:  1
Journal: Transactions of Beijing Institute of Technology

Keyword:  robot manipulatorsdynamic compensationoptimal control.;
Abstract: Time-varying, highly coupling and nonlinear dynamic equation of robot manipulators is transformed into linear, constant state equation by nonlinear dynamic compensation. The proper values of the state equation is set by means of state feedback. Optimal controller of robot manipulator is designed by minimizing quadratic criterion. As an example, digital simulation for an industrial robot manipulator motion are performed.
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