Title :
Dynamic modeling and control by utilizing an imaginary robot model
Author :
Gu, You-Liang ; Loh, Nan K.
Author_Institution :
Sch. of Eng. & Comput. Sci., Oakland Univ., Rochester, MI, USA
fDate :
10/1/1988 12:00:00 AM
Abstract :
A dynamic model that represents an exact linearization scheme with a simplified nonlinear feedback is presented. To realize this model for robotic systems, the output functions should be chosen so that a special decomposition of the total inertial matrix is satisfied. The concept of an imaginary robot is utilized to achieve the formulation and to solve the realization problem. Two illustrative examples are given in the paper, one for the Stanford arm and the other for a PUMA type of robot. An optimal robotic physical design and a control system design based on the new model are also discussed
Keywords :
control system synthesis; feedback; linearisation techniques; matrix algebra; robots; PUMA robot; Stanford arm; control system synthesis; dynamic model; imaginary robot model; linearisation techniques; matrix algebra; nonlinear feedback; total inertial matrix; Control system synthesis; Equations; Feedback; Lagrangian functions; Manipulator dynamics; Modeling; Nonlinear dynamical systems; Orbital robotics; Robots; Symmetric matrices;
Journal_Title :
Robotics and Automation, IEEE Journal of
