Title :
Cost-efficient controller for robotic manipulator
Author :
Sillitoe, I.P.W.
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;
Journal_Title :
Electronics Letters
DOI :
10.1049/el:19920301
