Space Shuttle Robotic Arm Manipulation and Position Control using Inverse Optimal Controller
This paper presents a design of space robotic arm along with the design of an optimized controller. The implementation uses an initial position value, which is fed as an input to the robotic link, this is further passed to an Inverse optimal controller which helps in optimizing the robotic trajectory. The proposed design can be used for any rigid body, while circumventing the need to solve Hamilton-Jacobi equation for a meaningful cost functional.
Keywords - D-H Equations, IOC, Quaternion, CLF