An Approach to Reduce Computational Load: Precalculating Gain Matrices for an LQR Controller of a Four-Axis Manipulator Using State Space Kinematics

2023/12/22 by Alistair Keiller, Keiller, Alistair
Computer Science · Engineering · #Embedded Systems Design Techniques #FOS: Computer and information sciences #FOS: Electrical engineering #Interconnection Networks and Systems #Robotic Mechanisms and Dynamics #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering

paper · pdf · doi:10.48550/arxiv.2312.14525

openalex publication_date 2023/12/22 · openalex created_date 2023/12/26 · openalex updated_date 2026/07/28

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.

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