This paper presents a new control technique for regulating general N-link manipulators to follow kinematically smooth command profiles with minimal tracking errors. This approach is based upon the Freund's decoupling technique for highly nonlinear coupled systems. Optimal control techniques are used to minimize state tracking errors while providing smooth operation. A general discrete-time domain nonlinear operator is presented which is equivalent to Freund's continuous time domain operator. This new operator becomes the basis for developing a nonlinear, discrete-time version of the optimal control algorithm.
|Original language||English (US)|
|State||Published - Jan 1 1988|
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