Institutional Repository
Technical University of Crete
Technical University of Crete
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| URI: | http://purl.tuc.gr/dl/dias/5954E8B7-B0F6-4C5A-9E37-14C4B36FC94A | ||
| Year | 1995 | ||
| Type of Item | Peer-Reviewed Journal Publication | ||
| License |
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| Bibliographic Citation | A. 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)00008-4 https://doi.org/10.1016/0921-8890(95)00008-4 | ||
| Appears in Collections |
A 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.
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