Global Optimization of Robot Control System Via Generalized Geometric Programming

Authors:
Jing Gong;Ruiqing Jia
Affiliations:
School of Civil Engineering, Northeast Dianli University, jilin City, 132012;School of Civil Engineering, Northeast Dianli University, jilin City, 132012
Venue:
ICIRA '08 Proceedings of the First International Conference on Intelligent Robotics and Applications: Part I
Year:
2008

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Abstract

A model of the robot control system can be described as a generalized geometric programming problem. The objection is to minimize the error subject to stability and torque constraints. A global optimization approach of generalized geometric programming has been used for solving the model. The relationships of sampling time versus the proportional gain (K p ), integral gain K i , and the derivative gain K v are studied. It is showed that the values of the control parameters (K p , K i , K v ) decrease as the sampling time increases before becoming flat. It is also concluded that generalized geometric programming is an efficient mathematical technique for the nonlinear control of robotic system.