DocumentCode
872385
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
Volume
4
Issue
5
fYear
1988
fDate
10/1/1988 12:00:00 AM
Firstpage
532
Lastpage
540
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;
fLanguage
English
Journal_Title
Robotics and Automation, IEEE Journal of
Publisher
ieee
ISSN
0882-4967
Type
jour
DOI
10.1109/56.20438
Filename
20438
Link To Document