Transformed Structural Properties Method to Determine the Controllability and Observability of Robots
| Autor: | Carlos Aguilar-Ibanez, Dany Ivan Martinez, Jesus Alberto Meda-Campana, Jaime Pacheco, Victor Garcia, Guadalupe Juliana Gutierrez, José de Jesús Rubio, Tomás Vargas, Marco Antonio Islas, Dante Mújica-Vargas |
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| Rok vydání: | 2021 |
| Předmět: |
0209 industrial biotechnology
observability Computer science linearization 02 engineering and technology controllability lcsh:Technology lcsh:Chemistry Computer Science::Robotics 020901 industrial engineering & automation Linearization Approximation error Control theory 0202 electrical engineering electronic engineering information engineering General Materials Science Observability lcsh:QH301-705.5 Instrumentation Fluid Flow and Transfer Processes lcsh:T transformation Process Chemistry and Technology General Engineering lcsh:QC1-999 Computer Science Applications Controllability Transformation (function) lcsh:Biology (General) lcsh:QD1-999 lcsh:TA1-2040 robots Robot 020201 artificial intelligence & image processing lcsh:Engineering (General). Civil engineering (General) lcsh:Physics |
| Zdroj: | Applied Sciences, Vol 11, Iss 3082, p 3082 (2021) Applied Sciences Volume 11 Issue 7 |
| ISSN: | 2076-3417 |
| DOI: | 10.3390/app11073082 |
| Popis: | Many investigations use a linearization method, and others use a structural properties method to determine the controllability and observability of robots. In this study, we propose a transformed structural properties method to determine the controllability and observability of robots, which is the combination of the linearization and the structural properties methods. The proposed method uses a transformation in the robot model to obtain a linear robot model with the gravity terms and uses the linearization of the gravity terms to obtain the linear robot model this linear robot model is used to determine controllability and observability. The described combination evades the structural conditions requirement and decreases the approximation error. The proposed method is better than previous methods because the proposed method can obtain more precise controllability and observability results. The modified structural properties method is compared with the linearization method to determine the controllability and observability of three robots. |
| Databáze: | OpenAIRE |
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