Optimal control of machine tool manipulators

Abstract

Based on the dynamical models for machine tool manipulators in Zirn [11, 12], we compare state-of-the-art feedback controls with optimal controls that either minimize the transfer time or damp vibrations of the system. The damping performance can be improved substantially by imposing state constraints on some of the state variables. Optimal control results give hints for suitable jerk limitations in the setpoint generator of numerical control systems for machine tools. © 2010 Springer -Verlag Berlin Heidelberg.