GEOMETRIC-PROGRAMMING BASED ROBOT CONTROL DESIGN

The optimal control of robot is obtained by geometric programming technique. The condesation approach of geometric program and Perseval's theorem are the basis of mathematical modeling. The relationships of sampling time versus the optimum proportional gain (K-p), the optimum integral gain (K-i), and the optimum derivative gain (K-v) are studied. The overall conclusion is that as the sampling time increases so the K-p, K-i and K-v values decrease before becoming flat. The optimum control is dependent on the choice of constraints. The approach is illustrated through an example.