Abstract
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.
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