An Approach to Reduce Computational Load: Precalculating Gain Matrices for an LQR Controller of a Four-Axis Manipulator Using State Space Kinematics

Autor:	Keiller, Alistair
Rok vydání:	2023
Předmět:	Computer Science - Robotics Electrical Engineering and Systems Science - Systems and Control
Druh dokumentu:	Working Paper
Popis:	When designing a power or CPU constrained device where a four-axis robotic arm is required and access to the Robot Operating System (ROS) is not an option, finding an efficient state space controller for a four-axis arm can be an obstacle. In this paper, I explore a method to optimize the computing power required for a computer algebra system (CAS) to compute linear quadratic regulator (LQR) matrices by precomputing the gain matrix for different states. Example C++ code is provided on Github, along with ideas for further exploration. Comment: The corresponding code is available here: https://github.com/AlistairKeiller/RobotIK 7 pages, 5 figures
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2312.14525 Zobrazit plný text záznamu View this record from Arxiv