Title :
A new control algorithm in terms of normalized quasi-velocities with gravitational forces
Author :
K. Kozlowski;P. Herman
Author_Institution :
Poznan Tech. Univ., Poland
Abstract :
This paper presents a new control algorithm for manipulators whose dynamics is expressed in terms of quasi-velocities. In contrary to our previous algorithms (1995) this one also considers gravitational forces. Robot dynamic algorithms in terms of quasi-velocities are recursive in nature and consists of two recursions: one starts from a base of the manipulator towards its tip and the other in opposite direction. Both recursions are described by using vector-matrix notation. The algorithm presented makes the system stable in the sense of Lyapunov. The algorithm was tested on the model of a manipulator with two degrees of freedom.
Keywords :
"Force control","Manipulator dynamics","Equations","Vectors","Robot control","Acceleration","Computer science","Heuristic algorithms","Testing","Robot sensing systems"
Conference_Titel :
Robot Motion and Control, 1999. RoMoCo ´99. Proceedings of the First Workshop on
Print_ISBN :
0-7803-5655-1
DOI :
10.1109/ROMOCO.1999.791059