DYNAMIC MODELING AND CONTROL BY UTILIZING AN IMAGINARY ROBOT MODEL

被引：6

作者：

GU, YL

LOH, NK

机构：

[1] Oakland Univ, Rochester, MI, USA

来源：

IEEE JOURNAL OF ROBOTICS AND AUTOMATION | 1988年 / 4卷 / 05期

关键词：

CONTROL SYSTEMS; NONLINEAR; -; DYNAMICS;

D O I：

10.1109/56.20438

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A dynamic model that represents an exact linearization scheme with a simplified nonlinear feedback is presented. To realize this model for robotic systems, the output functions should be chosen so that a special decomposition of the total inertial matrix is satisfied. The concept of an imaginary robot is utilized to achieve the formulation and to solve the realization problem. Two illustrative examples are given in the paper, one for the Stanford arm and the other for a PUMA type of robot. An optimal robotic physical design and a control system design based on the new model are also discussed.

引用

页码：532 / 540

页数：9