Creator:

Müller, Peter C.

Contributor:

Tchoń, Krzysztof - ed. ; Gosiewski, Anatol - ed.

Title:

Non-linear robot control: Method of exact linearization and decoupling by state feedback and alternative control design methods

Subtitle:

Mathematical Methods in Robotics

Group publication title:

AMCS, volume 5 (1995)

Subject and Keywords:

sterowanie ; sterowanie-teoria ; sztuczna inteligencja ; matematyka stosowana ; informatyka

Abstract:

The dynamics of robots has to be considered as non-linear because of the couplings between the robot axes and the effects of the Coulomb friction within the joints. For the first type of non-linearities a state feedback control is often designed by the method of exact linearization and non-linear decoupling. ; But there are disadvantages of such control design: (i) exact knowledge about the system model is needed to avoid all the related sensitivity problems; (ii) discontinuous non-linearities, such as e.g. the Coulomb friction cannot be analysed by this method. Therefore two other design approaches are proposed: the method of "reverse linearization" and the method of estimation and compensation of non-linearities. They result in a robust independent joint control of robots.

Publisher:

Zielona Góra: Uniwersytet Zielonogórski

Date:

1995

Resource Type:

artykuł

Pages:

359-371

Source:

AMCS, volume 5, number 2 (1995) ; click here to follow the link

Language:

eng

License CC BY 4.0:

click here to follow the link

Rights:

Biblioteka Uniwersytetu Zielonogórskiego