Title :
Redundant robot control utilizing an imaginary robot model
Author :
Gu, You-Liang ; Loh, Nan K.
Author_Institution :
Center for Robotics & Adv. Autom., Oakland Univ., Rochester, MI, USA
Abstract :
The concept and theory of an imaginary robot model with applications to the design of redundant robot control systems are presented. This model offers quite an effective way for simplifying nonlinear feedback while preserving the already linearized system equation. A redundant robot main-frame having three revolute joints plus a prismatic joint is used to illustrate the design procedure based on the imaginary robot model. A double-PD control law and a learning control law are explored and discussed
Keywords :
feedback; nonlinear control systems; redundancy; robots; double-PD control law; learning control law; nonlinear feedback; prismatic joint; redundant robot main-frame; revolute joints; Feedback; Nonlinear dynamical systems; Nonlinear equations; Robot control; Robot kinematics; Robot sensing systems; Robotics and automation; Symmetric matrices; Torque; Vectors;
Conference_Titel :
Systems, Man, and Cybernetics, 1991. 'Decision Aiding for Complex Systems, Conference Proceedings., 1991 IEEE International Conference on
Conference_Location :
Charlottesville, VA
Print_ISBN :
0-7803-0233-8
DOI :
10.1109/ICSMC.1991.169807
