On line discrete-time control of industrial robots

Zagorianos, A; Tzafestas, SG; Stavrakakis, GS

dc.contributor.author	Zagorianos, A	en
dc.contributor.author	Tzafestas, SG	en
dc.contributor.author	Stavrakakis, GS	en
dc.date.accessioned	2014-03-01T01:11:18Z
dc.date.available	2014-03-01T01:11:18Z
dc.date.issued	1995	en
dc.identifier.issn	0921-8890	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/11598
dc.subject	Discrete Time	en
dc.subject	Industrial Robots	en
dc.subject	Steady State	en
dc.subject	Linear Quadratic	en
dc.subject	Time Varying	en
dc.subject.classification	Automation & Control Systems	en
dc.subject.classification	Computer Science, Artificial Intelligence	en
dc.subject.classification	Robotics	en
dc.subject.other	Computational methods	en
dc.subject.other	Discrete time control systems	en
dc.subject.other	Linear control systems	en
dc.subject.other	Linearization	en
dc.subject.other	Microcomputers	en
dc.subject.other	Online systems	en
dc.subject.other	Optimal control systems	en
dc.subject.other	Robotics	en
dc.subject.other	Time varying control systems	en
dc.subject.other	Online discrete time control	en
dc.subject.other	Optimal time varying linear quadratic controller	en
dc.subject.other	Robot controllers	en
dc.subject.other	Robotic model	en
dc.subject.other	Steady state error elimination	en
dc.subject.other	Industrial robots	en
dc.title	On line discrete-time control of industrial robots	en
heal.type	journalArticle	en
heal.identifier.primary	10.1016/0921-8890(95)00008-4	en
heal.identifier.secondary	http://dx.doi.org/10.1016/0921-8890(95)00008-4	en
heal.language	English	en
heal.publicationDate	1995	en
heal.abstract	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. © 1995.	en
heal.publisher	ELSEVIER SCIENCE BV	en
heal.journalName	Robotics and Autonomous Systems	en
dc.identifier.doi	10.1016/0921-8890(95)00008-4	en
dc.identifier.isi	ISI:A1995RF62500003	en
dc.identifier.volume	14	en
dc.identifier.issue	4	en
dc.identifier.spage	289	en
dc.identifier.epage	299	en