Title :
An application of a state-space linearization method to a robot manipulator
Author :
Takagi, Y. ; Ozaki, F. ; Hasimoto, H.
Author_Institution :
Energy Sci. & Technol. Lab., Toshiba Corp., Kawasaki, Japan
Abstract :
An efficient method to design nonlinear controller for robot manipulators, based on state-space linearization concept, is presented. The method consists of three steps: (1) abbreviated equations which approximate the dynamic equations of a manipulator are calculated by Fourier transform; (2) using the simplified equations, linear dynamic equations which are first order approximations of the equations at an operational point, are derived; and (3) nonlinear compensations are designed so that exact linearization of the manipulator´s dynamics equations are achieved. The method was applied to a controller design for a direct drive manipulator. The control ability of the system was verified through digital simulations and some experimental results
Keywords :
Fourier transforms; control system synthesis; linearisation techniques; nonlinear control systems; robots; state-space methods; Fourier transform; design nonlinear controller; dynamic equations; first order approximations; manipulator; nonlinear compensations; robot; state-space linearization; Control systems; Electrical equipment industry; Fourier transforms; Manipulator dynamics; Nonlinear dynamical systems; Nonlinear equations; Robot control; Robot sensing systems; Robust control; Service robots;
Conference_Titel :
Intelligent Robots and Systems '90. 'Towards a New Frontier of Applications', Proceedings. IROS '90. IEEE International Workshop on
Conference_Location :
Ibaraki
DOI :
10.1109/IROS.1990.262386
