Utilize este identificador para referenciar este registo: http://hdl.handle.net/10400.22/8845
Título: Analysis of Robot Dynamics and Compensation Using Classical and Computed Torque Techniques
Autor: Machado, J. A. Tenreiro
Carvalho, J. L. Martins de
Galhano, Alexandra M. S. F.
Palavras-chave: Robots
Torque
Manipulator dynamics
Acceleration
Open loop systems
Algorithm design and analysis
Lagrangian functions
Data: Nov-1993
Editora: IEEE
Resumo: A classical analysis of the dynamics of robot manipulators is presented. It is shown that these systems have configuration-dependent properties and can be open-loop unstable. Due to this fact, present day linear controllers are inefficient. On the other hand, nonlinear hardware and software compensation methods also are shown to have some limitations. Controllers based on the direct design algorithm and the computed torque method have superior performances. These algorithms have nonlinear loops, yet it is shown that a linear analysis is still feasible. Therefore, classical design tools can be adopted in order to develop practical implementations
URI: http://hdl.handle.net/10400.22/8845
DOI: 10.1109/13.241614
ISSN: 0018-9359
Versão do Editor: http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=241614&abstractAccess=no&userType=inst
Aparece nas colecções:ISEP - DEE - Artigos

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