Obiekt
Tytuł: Non-linear robot control: Method of exact linearization and decoupling by state feedback and alternative control design methods
Współtwórca:
Tchoń, Krzysztof - ed. ; Gosiewski, Anatol - ed.
Podtytuł:
Mathematical Methods in Robotics
Tytuł publikacji grupowej:
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.
Wydawca:
Zielona Góra: Uniwersytet Zielonogórski
Identyfikator zasobu:
Strony:
Źródło:
AMCS, volume 5, number 2 (1995) ; kliknij tutaj, żeby przejść
Jezyk:
Prawa do dysponowania publikacją:
Biblioteka Uniwersytetu Zielonogórskiego
Kolekcje, do których przypisany jest obiekt:
- Repozytorium > Jednostki organizacyjne > Wydział Informatyki, Elektrotechniki i Automatyki
- Repozytorium > Typy utworów > Artykuły
- Repozytorium > Czasopisma naukowe i serie wydawnicze UZ > International Journal of Applied Mathematics and Computer Science (AMCS)
- Repozytorium > Czasopisma naukowe i serie wydawnicze UZ > International Journal of Applied Mathematics and Computer Science (AMCS) > International Journal of Applied Mathematics and Computer Science (AMCS) (1995)
Data ostatniej modyfikacji:
2021-09-02
Data dodania obiektu:
2020-09-21
Liczba wyświetleń treści obiektu:
86
Wszystkie dostępne wersje tego obiektu:
https://zbc.uz.zgora.pl/repozytorium/publication/64262
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- Kinematics of path tracking at singularities of the planar 2R manipulator
- Robot dynamics models in terms of generalized and quasi-coordinates: A comparison
- On tracking control of rigid and flexible joint robots
- On the existence of an optimally failure tolerant 7R manipulator Jacobian
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- Lyapunov control in robotic systems: Tracking regular and chaotic dynamics
- Normal forms of kinematic singularities of 3R robot manipulators
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