DocumentCode
2043364
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
Volume
4
fYear
1993
fDate
19-21 Oct. 1993
Firstpage
165
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/TENCON.1993.320459
Filename
320459
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