Title :
A simple scheme of nonlinear decoupling control for robotic manipulators with flexible joints
Author :
Zhu, H.A. ; Teo, C.L. ; Hong, G.S. ; Poo, A.N.
Author_Institution :
Dept. of Mech. & Production Eng., Nat. Univ. of Singapore, Singapore
Abstract :
Control of robotic manipulators with flexible joints is considered in this paper. Without using sophisticated mathematical tools, a simple yet rigorous algorithm is derived to decouple and linearize the highly nonlinear and strongly cross-coupled robotic dynamics. It is shown that the concise handcrafted algorithm can be used with great ease. A numerical example is presented to illustrate the performance of the proposed scheme.<>
Keywords :
dynamics; linearisation techniques; manipulators; nonlinear control systems; cross-coupled robotic dynamics; flexible joints; nonlinear decoupling control; robotic manipulators; Feedback; Manipulator dynamics; Production; Programmable control; Regulators; Robot control; Robust control; Symmetric matrices; Uncertainty; Virtual colonoscopy;
Conference_Titel :
TENCON '93. Proceedings. Computer, Communication, Control and Power Engineering.1993 IEEE Region 10 Conference on
Conference_Location :
Beijing, China
Print_ISBN :
0-7803-1233-3
DOI :
10.1109/TENCON.1993.320459
