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.

翻译：在为受算力或CPU资源限制的设备设计四轴机械臂，且无法使用机器人操作系统(ROS)时，寻找高效的状态空间控制器可能成为障碍。本文探讨了一种优化计算机代数系统(CAS)计算线性二次型调节器(LQR)矩阵所需算力的方法——通过预计算不同状态下的增益矩阵。文中给出了Github上的C++示例代码及进一步探索思路。