In this paper, Simultaneous Design of Plant parameters and Controller (SDPC) of robotic manipulators is presented using the Closed Loop (CL) optimal control approach. Since a robot is inherently used to perform repetitive tasks, the SDPC problem for robotic manipulator systems is practically reformulated as the optimal balancing problem and a demonstration of practical implementation. The optimality conditions are derived using the CL-optimal control theory and then solved by the policy iteration method. The modified policy iteration is further used to design robot parameters. The results are compared with the Open Loop (OL) solution through the optimal and static balancing cases. As a final point, although OL is the exact solution, but it has higher control cost over the CL implementation (for the case implemented here the cost difference is 16.75). Also CL-case has much shorter calculation time (51) than that of the OL case.
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机译:本文采用闭环(CL)最优控制方法,提出了机器人机械手的工厂参数和控制器(SDPC)的同步设计。由于机器人本质上是用于执行重复性任务的,因此机器人机械手系统的SDPC问题实际上被重新表述为最佳平衡问题和实际实施的示范。利用CL-最优控制理论推导了最优条件,然后利用策略迭代法求解。修改后的策略迭代进一步用于设计机器人参数。通过最优和静态平衡工况,将结果与开环(OL)解进行了比较。最后一点,虽然OL是确切的解决方案,但它比CL实现具有更高的控制成本(对于这里实现的情况,成本差异为16.75%)。此外,CL-case 的计算时间 (51%) 比 OL case 短得多。
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