Title :
A decentralized controllability measure for robotic manipulators
Author_Institution :
Inst. of Mech. & Biomech., Bulgarian Acad. of Sci., Sofia, Bulgaria
Abstract :
A global dynamic performance measure for manipulators with decentralized control systems is given. The measure is defined on the base of a weak explicit condition on the inverse inertia matrix which is necessary and sufficient for a manipulator to be independent joint controllable (IJC). Most properly designed nonredundant manipulators can be IJC. For a planar three-degree-of-freedom manipulator to be IJC, a simple inequality is derived to show how the link masses should decrease in progressing from the base to the gripper
Keywords :
control system analysis; controllability; decentralised control; manipulators; decentralized controllability measure; global dynamic performance measure; gripper; independent joint controllable; inequality; inverse inertia matrix; manipulators; robots; Acceleration; Centralized control; Control systems; Controllability; Distributed control; Manipulator dynamics; Robotic assembly; Robots; Transmission line matrix methods; Velocity control;
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
DOI :
10.1109/ROBOT.1992.219965
