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On line discrete-time control of industrial robots

Tzafestas, S. G, Stavrakakis Georgios, A. Zagorianos

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URIhttp://purl.tuc.gr/dl/dias/5954E8B7-B0F6-4C5A-9E37-14C4B36FC94A-
Identifierhttps://doi.org/10.1016/0921-8890(95)00008-4-
Languageen-
Extent11 pagesen
TitleOn line discrete-time control of industrial robotsen
CreatorTzafestas, S. Gen
CreatorStavrakakis Georgiosen
CreatorΣταυρακακης Γεωργιοςel
CreatorA. Zagorianosen
PublisherElsevieren
Content SummaryA recent discrete-time robotic model is employed and linearized to develop three different LQ-type robot controllers. These controllers are: optimal time-varying linear-quadratic controller (OTVLQ), OTVLQ controller with steady-state error elimination, and one-step ahead optimal LQ controller. These controllers require moderate computational effort and are offered for microprocessor-based implementation. Experimental results on a KUKA IR 160/15 robotic model verified the success and efficiency of the controllers. en
Type of ItemPeer-Reviewed Journal Publicationen
Type of ItemΔημοσίευση σε Περιοδικό με Κριτέςel
Licensehttp://creativecommons.org/licenses/by/4.0/en
Date of Item2015-10-14-
Date of Publication1995-
SubjectRobot controlen
Subjectrobots control systemsen
Subjectrobot controlen
Bibliographic CitationA. Zagorianos, Spyros G. Tzafestas, G.S. Stavrakakis," On line discrete-time control of industrial robots ,"Rob. and Auton. Systems, vol. 14, no.4, pp.289–299,Ju.1995.doi:10.1016/0921-8890(95)00008-4en

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