로보트 팔의 최소시간 위치제어에 관한 연구

A study on time optimal positioning control of robotic manipulator

In this paper, time optimal positioning control of the robotic manipulator is discussed. The equations for dynamic model of the robotic manipulator are nonolinear, and each link is highly coupled. A feedback linearizing and decoupling transformation makes the dynamic model linearized and decoupled, and optimal control input for the linear and decoupled system is derived.