Utilize este identificador para referenciar este registo: http://hdl.handle.net/10400.22/8793
Título: Robot Manipulator Systems: Analysis and Control
Autor: Machado, J. A. Tenreiro
Carvalho, J. L. Martins de
Palavras-chave: Simulation and Modeling
Computer-Aided Engineering and Design
Data: 1989
Editora: Springer-Verlag
Relatório da Série N.º: Systems Analysis and Simulation II;
Resumo: Manipulator systems are rather complex and highly nonlinear which makes difficult their analysis and control. Classic system theory is veil known, however it is inadequate in the presence of strong nonlinear dynamics. Nonlinear controllers produce good results [1] and work has been done e. g. relating the manipulator nonlinear dynamics with frequency response [2–5]. Nevertheless, given the complexity of the problem, systematic methods which permit to draw conclusions about stability, imperfect modelling effects, compensation requirements, etc. are still lacking. In section 2 we start by analysing the variation of the poles and zeros of the descriptive transfer functions of a robot manipulator in order to motivate the development of more robust (and computationally efficient) control algorithms. Based on this analysis a new multirate controller which is an improvement of the well known “computed torque controller” [6] is announced in section 3. Some research in this area was done by Neuman [7,8] showing tbat better robustness is possible if the basic controller structure is modified. The present study stems from those ideas, and attempts to give a systematic treatment, which results in easy to use standard engineering tools. Finally, in section 4 conclusions are presented.
Peer review: yes
URI: http://hdl.handle.net/10400.22/8793
DOI: 10.1007/978-1-4613-8936-1_31
ISBN: 978-0-387-97093-6
Versão do Editor: http://link.springer.com/chapter/10.1007/978-1-4613-8936-1_31
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