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AN APPROACH TO REDUCE COMPUTATIONAL LOAD: PRECALCULATING GAIN MATRICES FOR AN LQR CONTROLLER OF A FOUR-AXIS MANIPULATOR USING STATE SPACE KINEMATICS
  • Alistair Keiller
Alistair Keiller

Corresponding Author:[email protected]

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Abstract

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.
22 Dec 2023Submitted to TechRxiv
22 Dec 2023Published in TechRxiv