Browsing by Issue Date, starting with "1988-08-24"
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- A new variable structure controller for robot manipulatorsPublication . Tenreiro Machado, J. A.; Carvalho, J. L. Martins deA new variable structure control algorithm for robot manipulators is announced. Second order linear system sliding curves and a new control law, eliminate the reaching phase problems as well as the chattering usually present in the sliding mode. The results show a remarkable improvement over conventional VSS controllers, maintaining, however, a low computationla complexity which make it well suited for microcomputer implementation. Furthermore, the well known standard heuristic procedures of controller adjustment can be used in the proposed scheme. This is of utmost importance in an industrial environment.
- An efficient computational scheme for robot manipulatorsPublication . Tenreiro Machado, J. A.; Carvalho, J. L. Martins de; Matos, J. A. SilvaA new robot manipulator computational scheme which is a blend of ordinary and Boolean algebra is presented. This method may also be interpreted as a dedicated compiler that optimizes the on-line computing time at expenses of the off-line stage. The off-line requirements are alleviated, by the implementation of some general rules that stem from the structure of the robot manipulator equations, and the on-line computing time is optimized through the use of Binary Decision Diagrams. The results show a considerable computational improvement on conventional sequential machines but, furthermore, they clearly point out new computational parallel architectures. Finally, it is observed that the proposed algorithm is not restricted to robot dynamic computations, but is also applicable to many other computing structures.