유연성을 갖는 매니퓨레이터의 Quadratic-최적제어

The quardratic optimal control of flexible manipulator

The analytical studies and applicability of the implementation of the controller for the simple flexible arm studies and discussed in this thesis with the goal of developing flexible manipulator arm control. Minimum-time position control and quadractic-optimal control are investigated in this thesis. Its validity has been established using numerical simulations.