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Modeling and optical control of a multi-link robot manipulator using model-reality algorithm

In this chapter we consider a multilink robot manipulator problem with two-link manipulator arm. The perturbation model is expressed as nonlinear ?rst order “real” model which exhibit a high degree of nonlinearity. When a linearized model is used to solve the optimal control it creates large modelre...

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Main Authors:	Abd. Aziz, Mohd. Ismail, Abdullah, Noraliza
Format:	Book Section
Published:	Penerbit UTM 2007
Subjects:	Q Science (General)
Online Access:	http://eprints.utm.my/id/eprint/13569/
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id	my.utm.13569
record_format	eprints
spelling	my.utm.135692011-08-10T01:15:05Z http://eprints.utm.my/id/eprint/13569/ Modeling and optical control of a multi-link robot manipulator using model-reality algorithm Abd. Aziz, Mohd. Ismail Abdullah, Noraliza Q Science (General) In this chapter we consider a multilink robot manipulator problem with two-link manipulator arm. The perturbation model is expressed as nonlinear ?rst order “real” model which exhibit a high degree of nonlinearity. When a linearized model is used to solve the optimal control it creates large modelreality di?erences, which cannot be ignored. An algorithm that takes account of model-reality di?erences is developed and utilized to ?nd the optimal control of the robot manipulator. The algorithm uses linear quadratic (LQR) problem as the model. The high degree of nonlinearity makes the linearized model very unstable, which inevitably causes divergence. The large di?erences between model and reality on the other hand cause slow rate of convergence to the algorithm. In this chapter we present preliminary ?ndings on one method to overcome this slow convergence which is the selection of proper weighting matrix to the LQR. Penerbit UTM 2007 Book Section PeerReviewed Abd. Aziz, Mohd. Ismail and Abdullah, Noraliza (2007) Modeling and optical control of a multi-link robot manipulator using model-reality algorithm. In: Recent Advances In Theoretical and Numerical Methods. Penerbit UTM , Johor, pp. 93-106. ISBN 978-983-52-0610-8
institution	Universiti Teknologi Malaysia
building	UTM Library
collection	Institutional Repository
continent	Asia
country	Malaysia
content_provider	Universiti Teknologi Malaysia
content_source	UTM Institutional Repository
url_provider	http://eprints.utm.my/
topic	Q Science (General)
spellingShingle	Q Science (General) Abd. Aziz, Mohd. Ismail Abdullah, Noraliza Modeling and optical control of a multi-link robot manipulator using model-reality algorithm
description	In this chapter we consider a multilink robot manipulator problem with two-link manipulator arm. The perturbation model is expressed as nonlinear ?rst order “real” model which exhibit a high degree of nonlinearity. When a linearized model is used to solve the optimal control it creates large modelreality di?erences, which cannot be ignored. An algorithm that takes account of model-reality di?erences is developed and utilized to ?nd the optimal control of the robot manipulator. The algorithm uses linear quadratic (LQR) problem as the model. The high degree of nonlinearity makes the linearized model very unstable, which inevitably causes divergence. The large di?erences between model and reality on the other hand cause slow rate of convergence to the algorithm. In this chapter we present preliminary ?ndings on one method to overcome this slow convergence which is the selection of proper weighting matrix to the LQR.
format	Book Section
author	Abd. Aziz, Mohd. Ismail Abdullah, Noraliza
author_facet	Abd. Aziz, Mohd. Ismail Abdullah, Noraliza
author_sort	Abd. Aziz, Mohd. Ismail
title	Modeling and optical control of a multi-link robot manipulator using model-reality algorithm
title_short	Modeling and optical control of a multi-link robot manipulator using model-reality algorithm
title_full	Modeling and optical control of a multi-link robot manipulator using model-reality algorithm
title_fullStr	Modeling and optical control of a multi-link robot manipulator using model-reality algorithm
title_full_unstemmed	Modeling and optical control of a multi-link robot manipulator using model-reality algorithm
title_sort	modeling and optical control of a multi-link robot manipulator using model-reality algorithm
publisher	Penerbit UTM
publishDate	2007
url	http://eprints.utm.my/id/eprint/13569/
_version_	1643646220218925056
score	13.211869

Modeling and optical control of a multi-link robot manipulator using model-reality algorithm

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