Abstract
In recent years the advanced micro-electronics techniques are contributing to the progress of industrial robotic manipulators. Direct digital control of manipulators is one of the most promising applications of a new generation of computers. Improved control techniques are required for the digital control to attain a fine performance of 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 motions and payloads. The effectiveness of this control system is demonstrated in several simulations and experimental results.
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