Tchoń, Krzysztof - ed. ; Gosiewski, Anatol - ed.
Mathematical Methods in Robotics
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.
Zielona Góra: Uniwersytet Zielonogórski
AMCS, volume 5, number 2 (1995) ; click here to follow the link
Biblioteka Uniwersytetu Zielonogórskiego
Sep 2, 2021
Sep 21, 2020
71
https://zbc.uz.zgora.pl/repozytorium/publication/64262
Müller, Peter C. Logemann, Hartmut - red. Townley, Stuart - red.
Müller, Peter C. Korbicz, Józef - red. Uciński, Dariusz - red.
Korbicz, Józef - red.
Korbicz, Józef - red. Uciński, Dariusz - red.
Korbicz, Józef - red. Uciński, Dariusz - red.
Korbicz, Józef - red. Uciński, Dariusz - red.
Korbicz, Józef - red. Uciński, Dariusz - red.
Korbicz, Józef - red. Uciński, Dariusz - red.