Abstract
In recent year the advanced micro-electronics techniques leads to the progress of industrial robotic manipulators. Direct digital control of manipulators is one of the most promising applications of this new generation of computers. Improved control techniques are required for the digital control to attain a fine performance on manipulators. This paper proposes a software servo control system for linear quadratic optimal control with I-action (LQI control) for a good performance over a wide range of motion and payloads. The effectiveness of this control system is demonstrated in several simulation and experimental results.
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