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Cartesian-based control of a deformable robot manipulatorA control scheme for the 6-DOF Cincinnati-Milacron T3 robot arm is developed and demonstrated by means of numerical simulations. The arm is modeled as an open-loop articulated system with both actuators and position and velocity sensors at each joint, and a Cartesian-frame control algorithm is constructed in which (1) an adaptive scheme decouples the end-effector subsystem from the complex highly nonlinear main system and (2) a servo scheme drives the reduced system to follow a presumed end-effector trajectory on the basis of the Cartesian-frame feedback gains. The velocity transformation used to transfer the control forces from the Cartesian frame to joint-based space is explained, and the simulation results are presented in extensive graphs and diagrams. The control is found to respond well to system-topology changes and robot-environment impacts.
Document ID
19900039017
Acquisition Source
Legacy CDMS
Document Type
Reprint (Version printed in journal)
Authors
Chang, C. W.
(NASA Langley Research Center; Comtek Co. Hampton, VA, United States)
Date Acquired
August 14, 2013
Publication Date
January 1, 1990
Publication Information
Publication: Computers and Structures
Volume: 34
Issue: 4, 19
ISSN: 0045-7949
Subject Category
Cybernetics
Accession Number
90A26072
Distribution Limits
Public
Copyright
Other

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