Model Following Control of Robot Manipulators with Nonlinear Joint Flexibility
| Autor: | Eiichi Nakagawa, Jun'iti Sato, Zhengwei Cai, Yoichi Uetake |
|---|---|
| Rok vydání: | 1993 |
| Předmět: |
Engineering
Robot kinematics Joint Flexibility business.industry Mechanical Engineering Control (management) Robot manipulator Control engineering Industrial and Manufacturing Engineering Computer Science::Robotics Nonlinear system Transformation (function) Mechanics of Materials Control theory Simple (abstract algebra) Lie derivative business |
| Zdroj: | TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C. 59:2507-2511 |
| ISSN: | 1884-8354 0387-5024 |
| DOI: | 10.1299/kikaic.59.2507 |
| Popis: | This paper presents a model following control of robot manipulators with nonlinear joint flexibility, using a simple design procedure based on the Lie derivative. The nonlinear robot system will be linearized by means of nonlinear-state feedback and nonlinear-state transformation. The simulation results for 2-link manipulators show the validity of the design procedure and that the control errors can be suppressed to a smaller size than in the usual control method. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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