DocumentCode
883761
Title
Cost-efficient controller for robotic manipulator
Author
Sillitoe, I.P.W.
Volume
28
Issue
5
fYear
1992
Firstpage
477
Lastpage
478
Abstract
A new method based on disturbance attenuation is developed for enabling a manipulator to follow a given path. Its main advantage is the reduction of computation when compared with established techniques such as the computed torque control. This is achieved by regarding the effects of certain components of the dynamics as disturbances. Its effectiveness is illustrated using a simulation for a six degree of freedom industrial robot.
Keywords
control system analysis; dynamics; feedback; industrial robots; position control; cost-efficient controller; disturbance attenuation; dynamics; industrial robot; robotic manipulator; simulation; six degree of freedom;
fLanguage
English
Journal_Title
Electronics Letters
Publisher
iet
ISSN
0013-5194
Type
jour
DOI
10.1049/el:19920301
Filename
126447
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