Conventional controller design for industrial robots - A tutorial
Abstract
Industrial robots are serial link manipulators whose dynamic characteristics are highly nonlinear. By controlling each link or joint individually, employing the conventional technique to design linear feedback controllers for the robot is possible. The gravitational force and force interactions between joints are suppressed by precalculated feedforward compensation. To ease the computational burden, the compensating signals are either approximated or their computational formulas are simplified.
- Publication:
-
IEEE Transactions on Systems Man and Cybernetics
- Pub Date:
- June 1983
- Bibcode:
- 1983ITSMC..13..298L
- Keywords:
-
- Computer Aided Manufacturing;
- Control Equipment;
- Feedback Control;
- Manipulators;
- Positioning Devices (Machinery);
- Robot Control;
- Robots;
- Cartesian Coordinates;
- Compensation;
- Coordinate Transformations;
- Electronic Control;
- Feedforward Control;
- Position Errors;
- Production Engineering;
- Engineering (General)