DocumentCode
827200
Title
Dynamic decoupling of a remote manipulator system
Author
Yuan, J. S C
Author_Institution
SPAR Aerospace Products, Limited, Toronto, Canada
Volume
23
Issue
4
fYear
1978
fDate
8/1/1978 12:00:00 AM
Firstpage
713
Lastpage
717
Abstract
The dynamic decoupling problem for a rigid body model of a remote manipulator system is studied. An open-loop decoupling compensator is proposed, which is compatible with the independent-joint-control design philosophy currently adopted in most industrial manipulator systems. Decoupling is achieved by implementing a precompensator at the input to the joint drive system. The feasibility of the decoupling scheme is demonstrated via simulation experiments on the model of a two-joint manipulator system with arms in planar motion.
Keywords
Decoupling of systems; Linear systems, time-invariant continuous-time; Manipulators; Aerodynamics; Circuits; Integral equations; Manipulator dynamics; Motion control; Optimal control; Payloads; Servomechanisms; Space shuttles; System identification;
fLanguage
English
Journal_Title
Automatic Control, IEEE Transactions on
Publisher
ieee
ISSN
0018-9286
Type
jour
DOI
10.1109/TAC.1978.1101827
Filename
1101827
Link To Document