Analysis of Control Dynamics of a Robotic Arm Using Linear Quadratic Optimal Control Technique

摘要

Arm robotics is becoming more and more popular due to the need to help humans with difficult and repetitive tasks and the desire to increase productivity. Optimal control techniques are required for better control of robot arms. This paper presents the control dynamics of a two-degree-of-freedom planar robot arm. The non-linear dynamic model of the robot manipulator is linearized using feedback linearization approach followed by Linear Quadratic Optimal Control (LQ Optimal Control) for controlling the robot arm. The control parameters of LQ Optimal control are derived by minimizing a quadratic cost function. Furthermore, a simulation study is presented together with its results to demonstrate the effectiveness of the suggested approach.