Analysis of Manipulators Using SDRE: A Closed Loop Nonlinear Optimal Control Approach


1 Research Center,Sharif University of Technology

2 Department of Mechanical Engineering,Iran University of Science and Technology


In this paper, the State Dependent Riccati Equation (SDRE) method is implemented on
robotic systems such as a mobile two-links planar robot and a xed 6R manipulator with complicated
dynamic equations. Dynamic modelings of both cases are presented using the Lagrange method.
Afterwards, the Dynamic Load Carrying Capacity (DLCC), which is an important characteristic of robots,
is calculated for these two systems. DLCC is calculated for the prede ned end-e ector path, where motor
torque limits and tracking error constraints are imposed for this calculation. For a mobile two-links planar
robot, the stability constraint is discussed by applying a zero moment point approach. A nonlinear feedback
control law is designed for the fully nonlinear dynamics of two cases using a nonlinear closed-loop optimal
control method. For solving the SDRE equation that appears in the optimal control solution, a power
series approximation method is applied. DLCC is obtained, subject to accuracy and torque constraints,
by applying this feedback control law for the square and linear path of the end-e ector for mobile twolink
and a 6R manipulator, respectively. Finally, simulations are done for both cases and the DLCC of
manipulators is determined. Also, actual end-e ector positions, required control e orts and the angular
position and velocity of joints are presented for full load conditions, and results are discussed